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.