Abstract
In this paper, a real-time path planning algorithm for a single mobile robot which has omni-directional vision sensors is proposed. The robot implements RTA^* - real-time heuristic search algorithm, by which the robot can reach its goal position by alternating searching and moving. For this implementation, the robot needs to transform its sensory information to a graph searching space, and to solve this problem, a method of the transformation for an omni-directional distance sensor is proposed. A multi-resolution searching architecture is also proposed which changes the sensor resolution according to the robot's facing situations. Finally simulations and experimental results show the validities of the proposed method.
