Hierarchical path planning approach for mobile robot navigation under the dynamic environment

In view of the environment uncertainty of mobile robot navigating under the unknown and dynamic environments, the paper adopts hierarchical path planning ways which is two layers of global and the local optimization have been combined to implement autonomous mobile robot navigating. The genetic algorithm and the fuzzy theory were applied in the two layers separately, the genetic annealing algorithm is used to global path planning, and the hierarchical fuzzy coordinated strategy is used to local optimization procedure. It results in fewer rules, as well as much simplified and flexible design where new behaviors can be added easily. The simulation experiments indicate the effectiveness of the proposed methods.