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In this paper,a real-time path planning algorithm for a single mobile robot which has omni-directional vision sensors is proposed. The robot implements RTA* real-time heuristic search algorithm, by which the robot can reach its goal position by alternating searching and moving. For this implementation, the robot needs to transform its sensory information to graph searching space,and to solve this, a method of the transformation for an omni-directional distance sensor is proposed. A multi-resolution searching architecture is also proposed which changes the sensor resolution according to the robot’s facing situations, and by changing the moving speed of the robot simultaneously, the robot is controlled with a control request. In addition, probabilistic decision making algorithm is examined, by which the reaching time is decreased in some situations. Finally simulation results show the validities of the proposed

1A1-D21 Real time mobile robot control with a multiresolution map representation