Event
Hybrid path planning framework enables multi-target navigation for wheelchairs
1 reports · 1 sources
Damla Leblebicioğlu and other authors published a hybrid path planning framework for assistive wheelchair multi-target navigation: using the traveling salesman problem (TSP) for global task ordering, combined with potential field (PF) methods and local planners such as RRT and A*, forming two algorithms, TSP-PF-RRT and TSP-PF-A*. The authors state that in Monte Carlo simulations of crowded and super-crowded scenarios containing heterogeneous dynamic and static obstacles, the framework can achieve efficient multi-target navigation in dynamic environments with people while maintaining safe operation; among them, TSP-PF-RRT has fewer or zero collisions and shorter travel distances. These results come from simulation evaluation and have not yet involved real vehicles or real wheelchair environments.
Report timeline
- 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.
arXiv cs.RO ·
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