Hybrid Map-Based Path Planning for Robot Navigation in Unstructured Environments
Jiayang Liu,Xieyuanli Chen,Junhao Xiao,Sichao Lin,Zhiqiang Zheng,Huimin Lu,Jiayang Liu,Xieyuanli Chen,Junhao Xiao,Sichao Lin,Zhiqiang Zheng,Huimin Lu
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance the efficiency and safety for ground robots navigating in such challenging scenarios. In this paper, we propose a novel hybrid map representation by fusing a 2D g...
