Application of hybrid A* to an autonomous mobile robot for path planning in unstructured outdoor environments
Janko Petereit, Thomas Emter, Christian Walter Frey, Thomas Kopfstedt, Andreas Beutel · Fraunhofer-Publica (Fraunhofer-Gesellschaft) · 2022
Efficient path planning is one of the main prerequisites for robust navigation of autonomous robots. Especially driving in complex environments containing both streets and unstructured regions is a challenging problem. In this paper we present the application of the Hybrid A* algorithm to a nonholonomic mobile outdoor robot in order to plan near optimal paths in mostly unknown and potentially intricate environments. The implemented algorithm is capable of generating paths with a rate of at least 10 Hz to guarantee real-time behavior.