Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot

[[abstract]]This paper proposes a hybrid path planning algorithm incorporating a global and local search mechanism for mobile robot. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end points. Taking advantages of the D* algorithm and Voronoi graph, the proposed hybrid path planning algorithm is capable of obtaining a desired path for the mobile robot, overcoming the efficiency problem while maintaining maximum safety distance from the obstacles when the mobile robot navigates in the environment.[[sponsorship]]University of Bristol[[conferencetype]]國際[[conferencedate]]20120820~20120825[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Bristol, England, United Kingdo