Various navigation tasks involving dynamic scenarios require mobile robots to meet the requirements of a high planning success rate, fast planning, dynamic obstacle avoidance, and shortest path. PRM (probabilistic roadmap method), as one of the classical path planning methods, is characterized by simple principles, probabilistic completeness, fast planning speed, and the formation of asymptotically optimal paths, but has poor performance in dynamic obstacle avoidance. In this study, we use the idea of hierarchical planning to improve the dynamic obstacle avoidance performance of PRM by introducing D* into the network construction and planning process of PRM. To demonstrate the feasibility of the proposed method, we conducted simulation experiments using the proposed PRM-D* (probabilistic roadmap method and D*) method for maps of different complexity and compared the results with those obtained by classical methods such as SPARS2 (improving sparse roadmap spanners). The experiments demonstrate that our method is non-optimal in terms of path length but second only to graph search methods; it outperforms other methods in static planning, with an average planning time of less than 1 s, and in terms of the dynamic planning speed, our method is two orders of magnitude faster than the SPARS2 method, with a single dynamic planning time of less than 0.02 s. Finally, we deployed the proposed PRM-D* algorithm on a real vehicle for experimental validation. The experimental results show that the proposed method was able to perform the navigation task in a real-world scenario.

Environment perception is a key part of robot self-controlled motion. When using vision to accomplish obstacle detection tasks, it is difficult for deep learning methods to detect all obstacles due to complex environment and vision limitations, and it is difficult for traditional methods to meet real-time requirements when applied to embedded platforms. In this paper, a fast obstacle-detection process applied to RGB-D cameras is proposed. The process has three main steps, feature point extraction, noise removal, and obstacle clustering. Using Canny and Shi–Tomasi algorithms to complete the pre-processing and feature point extraction, filtering noise based on geometry, grouping obstacles with different depths based on the basic principle that the feature points on the same object contour must be continuous or within the same depth in the view of RGB-D camera, and then doing further segmentation from the horizontal direction to complete the obstacle clustering work. The method omits the iterative computation process required by traditional methods and greatly reduces the memory and time overhead. After experimental verification, the proposed method has a comprehensive recognition accuracy of 82.41%, which is 4.13% and 19.34% higher than that of RSC and traditional methods, respectively, and recognition accuracy of 91.72% under normal illumination, with a recognition speed of more than 20 FPS on the embedded platform; at the same time, all detections can be achieved within 1 m under normal illumination, and the detection error is no more than 2 cm within 3 m.