Article

Hybrid Path Planning Framework for Assistive Wheelchair Navigation in Dynamic Pedestrian Environments

A study proposes a hybrid path planning framework for multi-goal navigation of assistive wheelchairs, using the Traveling Salesman Problem (TSP) for global task ordering combined with the Potential Field (PF) method and heuristic local planners such as RRT and A* to achieve collision-free navigation, and develops two algorithms, TSP-PF-RRT and TSP-PF-A*. In Monte Carlo simulations of crowded and super-crowded scenarios, the framework achieves efficient multi-goal navigation in dynamic human environments containing heterogeneous static and dynamic obstacles, with TSP-PF-RRT producing fewer or zero collisions and shorter travel distances.

Part of the event: Hybrid path planning framework enables multi-target navigation for wheelchairs

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