Hybrid Goal Acquisition System For Pioneer 2 Mobile Robot

Abstract

This paper presents our hybrid approach using the D* algorithm for generating focal points on an optimal path for a robot operating with a map of the environment. These points are used by potential field based navigator. The robot?s sensor is able to measure arc costs in the vicinity of the robot, and the known and estimated arc values comprise the map. The paper describes the algorithm, illustrates its operation, presents our approach for implementation, and then concludes with a proof of operation.