Improved Local Path Planning Base on Grid Map

The research of unmanned mobile platforms has always been a hot topic and autonomous mobile is one of the key issues. To achieve autonomous mobility, a good path planning is needed. At present, there are many kinds of path planning methods and each has its own advantages and disadvantages.In this paper, an improved local planning method is proposed. Based on the environmental information obtained by the perceptual equipment, the grid map is established. In order to simplify our introduction, the obstacle avoidance task is taken as an example. The main ideas and specific steps of the method are introduced. The simulation experiment is carried out and the advantages and disadvantages of the method are summarized.