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Abstract

This article proposes a safer path planning method for 4WD wheeled patrol robots traveling in unstructured road environment, which solves the problem that the robots cannot be restricted to the road area. In this article, we propose an improved Open-planner path planning algorithm integrating RoadEdge boundaries, so that the robot gives priority to driving to the right in unstructured road environment, and always drives in the road area during the obstacle avoidance process, so as to ensure the safety of the patrol robot during the cruise. The proposed algorithm is tested in simulation and real scenarios, and the experimental results are better than the original algorithm...