경유지의 가시성을 고려한 2차원 라이다 센서 기반의 실용적인 경로 계획 프레임워크

초록

Path-planning, a critical component of mobile robot navigation, comprises both local and global planning. Previous studies primarilyfocused on enhancing the individual performance of these planners, avoiding obstacles, and computing an optimal global path from astarting position to a target position. In this study, we introduce a practical path-planning framework that employs a target planner tobridge the local and global planners; this enables mobile robots to navigate seamlessly and efficiently toward a global target position. The proposed target planner assesses the visibility of waypoints along the global path, and it selects a reachable navigation target, whichcan then be used to generate efficient control commands for the local planners. A visibility-based target planner can handle situations,wherein the current, target waypoint is occupied by unknown obstacles. Real-world experiments demonstrated that the proposed pathplanning framework with the visibility-based target planner allowed the robot to navigate to the final target position along a more efficient path than the framework without a target planner.

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