Fast, Lightweight, and Robust Path Planning for Low-Power Embedded Environments
Hwanhee Lee, Ilyong Yoon, Sangwoo Kim, Dong Jin Hyun · 2021 21st International Conference on Control, Automation and Systems (ICCAS) · 2021
A fast, lightweight, and robust path planning algorithm is proposed for single agent robot navigation environments varying every moments, and its feasibility for low-power embedded environments are verified. Main objective of this paper is to find path immediately avoiding obstacles in unstructured environments for safe robot navigation on low-power embedded environments. Several experiments are conducted to evaluate the path planning performance and the long-term operation and to verify the consistency of performance and the feasibility for low-power embedded environments.