Sensor observation area compensating path planning for avoiding collisions with unknown obstacles

In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor´s viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.