A hierarchical path planning of cleaning robot based on grid map

This paper presents a hierarchical path planning method based on the grid map. Hierarchy is composed of a coarse grid map and an original map with fine grid. The coarse grid map is obtained by reducing the resolution of the original grid map. A* path planning algorithm is applied to the coarse grid map instead of the fine grid map. It reduces memory size a lot for A* algorithm without increasing computation time. The proposed method is implemented for cleaning robots to move to a target position finding a collision free path.