A Hybrid Path Planning Algorithm for Mobile Robot Based on Sliding Sub Target

Abstract

Path planning is a difficult and practical problem confronting mobile robot. It is mainly because of a confliction between local and global perspectives of path planning. This paper proposes a hybrid algorithm for path planning to combine both the local path planning and global path planning based on a sliding sub target. The sub target is mounted on the global path, planned by the global path planning algorithm, so that the local path planning algorithm would be guided. By sliding the sub target along the global path, the global environmental information is considered. By using the local path planning to control the motion of the robot, a rapid consideration for the local environment is also combined. Benefit from the combination, both global and local environmental information are considered. Compared with the path planning approaches from scratch, this approach provides a hybrid algorithm for mobile to combine both global and local path planning. Both simulations and experiments have proved the effect.