Optimal path planning for mobile robot navigation

doi:10.1109/TMECH.2008.2000822

Optimal path planning for mobile robot navigation

2008-08-01

85

PRE

AI

DOI：10.1109/TMECH.2008.2000822

Original

Original request for help

Save

Abstract

En 中文

Some optimal path planning algorithms for navigating mobile rectangular robot among obstacles and weighted regions are presented. The approach is based on a higher geometry maze routing algorithm. Starting from a top view of a workspace with obstacles, the so-called free workspace is first obtained by virtually expanding the obstacles in the image. After that, an 8-geomerty maze routing algorithm is applied to obtain an optimal collision-free path with linear time and space complexities. The proposed methods cannot only search an optimal path among various terrains but also find an optimal path for the 2-D piano mover's problem with 3 DOE Furthermore, the algorithm can be easily extended to the dynamic collision avoidance problem among multiple autonomous robots or path planning in the 3-D space.

Keywords:

lambda-geometry maze router

path planning

piano mover's problem

Optimal path planning for mobile robot navigation

Abstract

Journal

Organization