A two-level approach for robot navigation in large-scale, unknownand dynamic environments

摘要

In this paper, an approach is presented for exploration, pathplanning and navigation by an autonomous robot in large-scale, unknownand dynamic environments. A distinction between a local level and aglobal level is proposed. At a local level, collision-free navigation isrealised based on a local map of the immediate environment. At a globallevel, a global map is built, capturing the topological structure of theenvironment. This global map is used for path planning and execution ofan exploration strategy. Test results, obtained through simulation, arepresented to demonstrate the capabilities of the approach