Path Planning and Autonomous Navigation using AMCL and AD*

Path planning and autonomous navigation are some of the most important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This paper presents a methodology to efficiently plan the trajectory of a robot in dynamic and complex environments, which it should traverse autonomously. A planner based in the AD* algorithm is used to plan a less costly trajectory to the destination. The methodology enables the robot to reach the goal using a local planner, which is applied to determine the speed and steering of the robot. Experimental results show that the planner is reliable for simulated and real tasks, as the robot has reached the goal while safely avoided obstacles.