Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 6Sprache: EnglischTyp: PDF

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Petereit, Janko; Emter, Thomas; Frey, Christian W. (Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany)
Kopfstedt, Thomas; Beutel, Andreas (Diehl BGT Defence GmbH & Co. KG, Überlingen, Germany)

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.