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This paper surveys the utilization of the wall following concept for path planning in mobile robotics and proposes an improved wall following method for escaping from local minimum encountered by the artificial potential field (APF) method used in real-time path planning. In the new algorithm, more reliable switching conditions are designed to guarantee the success of escape. Moreover, memory information...
For efficiently solving path planning problem in partly unknown environment and making full use of the prior known knowledge of the environment and the sensor based information, a hybrid method consisting of both global and local path planning is proposed in this paper. In this hybrid method, a new approach for generating the sequence of sub-goal is proposed. Most importantly, comparing with some...
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