Hierarchical Path-Planning for Mobile Robots Using a Skeletonization-Informed Rapidly Exploring Random Tree*

Hierarchical Path-Planning for Mobile Robots Using a Skeletonization-Informed Rapidly Exploring Random Tree*

An efficient, hierarchical, two-dimensional (2D) path-planning method for large complex environments is presented in this paper. For mobile robots moving in 2D environments, conventional path-planning algorithms employ single-layered maps; the proposed approach engages in hierarchical inter- and int...

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Bibliographic Details
Main Author: Hyejeong Ryu
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Applied Sciences
Subjects:
path-planning
mobile robots
rapidly exploring random tree
grid map segmentation
environmental graph structure
Online Access:https://www.mdpi.com/2076-3417/10/21/7846

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