Universal autonomous robot navigation using quasi optimal path generation
Áron Lászka, Annamária R. Várkonyi-Kóczy, Gábor Pék, Péter Várlaki · 2009
Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated graph generation method which may become necessary if, because of the observed new obstacles, a new path should be generated. The quasi optimal route is found by applying the well known A* algorithm on the graph. The presented technique offers a quasi optimal universal navigation technique which can successfully be used in all, known, unknown, and dynamically changing environments.