Path planning for autonomous mobile robots with mobility and threat information
Lee Heebeom, H. Jin Kim · 2016
Autonomous navigation is a basic feature for unmanned vehicle systems. For successful autonomous navigation, safety and mobility should be considered for path planning. For safety, a path should be planned to avoid threat, and for mobility, it should be planned by considering landscape and robot dynamics. This path can be obtained by applying the threat and mobility information to calculate the cost of path planning. In this paper we consider the case where threat property is provided as an indirect form of information which requires processing to represent in the cost function, but mobility property is given in a direct form. Thus, we should generate the threat map from the threat information for path planning. Using the threat information, we generate the threat map for the cost of path planning and perform path planning based on these mobility and threat maps. From the path planning results, we confirmed that our cost formulations are valid and the generated path satisfies the safety and mobility.