Synapse
⌘+K
Synapse
PulseExploreClubsResearchersJournals
Instagram
HomeClubsExplore
August 2, 2026Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science

Hierarchical planning method for mobile robot path-following in dynamic complex environments

View Full Paper
Ask AI
Bookmark
Share

Authors

XLXinguang LiShandong Transportation Research InstituteSZShilong ZhaoShandong Transportation Research InstituteXGXiaoqi GuoShandong Transportation Research Institute

Discussion

Loading...

Member takes

Implication

Randomized trial demonstrates efficient path-following in dynamic environments, indicating improved navigation capabilities.

Key Points

  • The study aims to enhance path-following for mobile robots in complex dynamic environments using a hierarchical planning method.
  • Developed a hierarchical planning architecture with point-by-point tracking control.
  • Implemented a two-stage heuristic search strategy with an intermediate node mechanism to improve search efficiency.
  • Optimized the artificial potential field model and introduced a node attraction strategy.
  • Global planner improved path length, computation time, and sampling iterations compared to baseline algorithms.
  • Local planner showed superior performance in computation time and path quality against comparative algorithms.
  • ROS-based simulations and physical experiments confirmed the framework's efficiency and effective obstacle avoidance.

Cite This Study

Li et al. (2026) studied this question.

synapsesocial.com/papers/6a6eeaaf1b0468a7eeab305chttps://doi.org/10.1177/09544062261469932
View Full Paper
Ask AI
Bookmark
Share