A multi-strategy path planner based on space accessibility

@article{Hang2017AMP,
  title={A multi-strategy path planner based on space accessibility},
  author={Meng Hang and Mengxiang Lin and Shangzhe Li and Zhixin Chen and Rong Ding},
  journal={2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2017},
  pages={2154-2161}
}
The problem of planning a path in the real complex environment remains a difficult challenge although path planning has been studied extensively in the context of autonomous indoor mobile robots. One of the main reasons is lacking semantic information of the robot's working space. In this paper, we introduce the notion of space accessibility into path planning research. Semantic mapping is utilized to identify and recognize room and hallway on an occupancy grid map. A region topological map is… CONTINUE READING

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