A Hybrid Algorithm For Robot Path Planning

摘要

This paper uses a gradient-based optimization algorithm to reduce the oscillation of the path planned by artificial potential field method in presence of obstacles and in narrow passages, then this improved method is combined with A * algorithm to plan a path. This hybrid algorithm takes the best of both methods to reduces the overall path cost by using A * as well as time complexity by adapting the advantage of artificial potential field. Experimental results prove the effectiveness of the hybrid algorithm.