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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/ob8mua3882ljpb8lr3vf8o7zs
- Original: https://arxiv.org/abs/2610.42049

## Summary

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.