Unidirectional-Road-Network-Based Global Path Planning for Cleaning Robots in Semi-Structured Environments
Yong Li,Hui Cheng,Yong Li,Hui Cheng
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule constraints of the environments, which leads to high-frequency re-planning and increases collision risks. In contrast, those for structured environments are de...
