The Agoraphilic* Algorithm: The enhanced Agoraphilic Algorithm for Uneven Terrain Environment Robot Navigation

This paper introduces a novel path planning algorithm, Agoraphilic*, designed to address the challenges in uneven terrain environments. Unlike the traditional Agoraphilic algorithm, which is limited to navigating in 2D planes, the new algorithm extends the traditional Agoraphilic algorithm capabilities to multi-planar terrains. Building upon the basic principles of the Agoraphilic algorithm, Agoraphilic* utilizes free space searching and generates attractive forces based on available free spaces and the goal direction. While the traditional Agoraphilic algorithm estimates free spaces using distance data captured from 2D plane distance sensors, such as 2D LiDAR or ultrasonic sensors, Agoraphilic* algorithm estimates free spaces based on terrain profiles captured from 3D LiDAR or depth cameras. This adaptation equips the algorithm to navigate effectively in uneven terrain environments. By redefining the traditional Agoraphilic algorithm’s basic stages based on terrain profiles, Agoraphilic* algorithm facilitates local path planning in multi-terrain environments. The effectiveness of the proposed algorithm was validated through computer simulation.