Núcleo de Especialização em Robótica-NERO, Departamento de Engenharia Elétrica-DEL, Universidade Federal de Viçosa-UFV, Viçosa MG 36570-900, Brazil.
Sensors (Basel). 2019 Mar 1;19(5):1049. doi: 10.3390/s19051049.
This paper introduces a strategy for the path planning problem for platforms with limited sensor and processing capabilities. The proposed algorithm does not require any prior information but assumes that a mapping algorithm is used. If enough information is available, a global path planner finds sub-optimal collision-free paths within the known map. For the real time obstacle avoidance task, a simple and cost-efficient local planner is used, making the algorithm a hybrid global and local planning solution. The strategy was tested in a real, cluttered environment experiment using the Pioneer P3-DX and the Xbox 360 kinect sensor, to validate and evaluate the algorithm efficiency.
本文提出了一种针对传感器和处理能力有限的平台的路径规划问题的策略。所提出的算法不需要任何先验信息，但假设使用了映射算法。如果有足够的信息，全局路径规划器会在已知地图中找到次优的无碰撞路径。对于实时避障任务，使用简单且具有成本效益的局部规划器，使算法成为一种混合全局和局部规划解决方案。该策略在使用 Pioneer P3-DX 和 Xbox 360 kinect 传感器的真实杂乱环境实验中进行了测试，以验证和评估算法的效率。
