A hybrid path planning method for partly unknown environment

For efficiently solving path planning problem in partly unknown environment and making full use of the prior known knowledge of the environment and the sensor based information, a hybrid method consisting of both global and local path planning is proposed in this paper. In this hybrid method, a new approach for generating the sequence of sub-goal is proposed. Most importantly, comparing with some related works, the proposed method pays more attention to the capability of local planning layer instead of global planning layer, which results in more reliable ability to escape from trap in partly known environment without expensive computation. The simulation results verified the effectiveness of the proposed method.