Graph-Based Path Generation for Robot Navigation in a Forest Environment

Abstract

This study evaluates a trajectory generation method for the efficient navigation of autonomous mobile robots in forests. We propose a graph-based cycle generation method. A graph was generated using environmental landmarks as nodes, and the graph was modified to be Eulerian. The Hamiltonian cycle contained nodes that could be regarded as the midpoint between a pair of landmarks; an efficient path could then be found. We applied this method to an artificial forest to verify the feasibility.