Path Planning for the Mobile Robots in the Environment with Unknown Obstacles

This paper proposes a method on path planning for mobile robots in the environment with some unknown obstacles. The whole planner consists of three parts. First, generate the global path from the given start pose to goal pose according to the known map of environment. Then when robot following the planned path, the module of threat assessment check whether or nor there are unknown obstacles in the neighbour possibly colliding with the robot. If any, a smooth switch-path will be generated to bypass the obstacles. Finally, simulation results verify the feasibility of the proposed method.