Potential risk-based Safe Global Path Planning

摘要

We present a Safe Global Path Planning (SGPP) method for mobile robots which takes potential risks into account. The places in which mobile robot navigation is performed can contain numerous potential hazards. The majority of path planning algorithms, however, put a priority on the minimization of time and distance rather than ensuring a safe performance. Robot can encounter difficulties in reaching its target point, as it can be place in which the robot cannot obtain environment information due to limited fields of view and dynamic environments. This paper presents a Modified A∗ algorithm in order to reduce collision risk through the consideration of occluded dynamic environments. Simulation results show that the proposed algorithm has better performance (safety cost and navigation time) than original A∗ algorithm.