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

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 6Language: englishTyp: PDF

Personal VDE Members are entitled to a 10% discount on this title

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.