Hierarchical Path-Planning for Mobile Robots Using a Skeletonization-Informed Rapidly Exploring Random Tree*
An efficient, hierarchical, two-dimensional (2D) path-planning method for large complex environments is presented in this paper. For mobile robots moving in 2D environments, conventional path-planning algorithms employ single-layered maps; the proposed approach engages in hierarchical inter- and int...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/21/7846 |