Paper Title
Hybrid Path Planning For Mobile Robots Based On Multi-Skeletonization And A* Algorithms

Abstract
A* algorithm is a widely used path planning approach due to its simplicity and efficiency. The derived path for the robot, however, may be too close to the obstacles. Although GVG algorithm is very suitable in providing a maximum distance between the robot and the obstacles, the derived path is not desired with the possibility to come up with a detoured path. To address the above problems, this paper proposes a novel approach which employs a skeleton extraction algorithm to construct multiple skeletons for the environmental map so that A* algorithm can subsequently take over to plan a desired path. Taking advantage of the A* algorithm and multi-skeletonization, the proposed hybrid path planning algorithm is capable of obtaining a desired path for mobile robots, overcoming the efficiency problem while still maintaining a maximum safety distance from the obstacles when the mobile robot navigates in the environment. Keywords� Hybrid Path Planning, A* Algorithm, Skeleton Extraction, Mobile Robots.