Local Arrival Time Field based Path Planning using Guided Waypoints for Unknown Environment

摘要

Path planning and mapping are two key components in autonomous mobile robot. In this paper, a path planning and mapping algorithm for unknown environment is proposed. The proposed algorithm uses arrival time field combined with Lidar to handle local information and mapping. Lidar enables robot to understand the local environment by calculating Euclidean distance to guided waypoints of generated arrival time field which leads to the goal point. Arrival time generates a safe and minimum path from starting point to guided waypoints which will be renewed every time the robot is moving until it reaches the goal. The simulation demonstrates that the local arrival time field successfully leads robot to goal point safely with 0.5434 m shorter path than global arrival time field for the given environment.