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Optimal path planning for mobile robot navigation
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AI
DOI：10.1109/TMECH.2008.2000822.png)
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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
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