Framework based path planning, a novel approach

Abstract

In this paper, we present a novel frameworks for robot path planning software development and deployment of multiple path planning for autonomous robots in an unstructured and unknown environment. This research covered applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. We demonstrate the algorithms and software on an experimental test bed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry. Experimental results of simulation show this improved algorithm can effectively improve the calculation speed of path planning and ensure the quality of path planning. © 2013 Springer-Verlag Berlin Heidelberg.