MULTILEVEL PATH PLANNING ALGORITHM FOR AUTONOMOUS ROBOTS

The authors present a complete path-planning method for sensor-based n avigation in an autonomous mobile robot. The environment is described by probabilistic maps processed with a new obstacle enhancement algori thm. The novelty of the approach consists of using a pyramid structure as a preprocessing module to classical path planning algorithms. This stage enhances the performance of the system, minimising the computat ional cost by operating in an optimal resolution level. Thus, the syst em is allowed to work with huge environments with a very fine-coarse d escomposition in real time.