A new approach of path planning for mobile robots

Abstract

Path planning is fundamental task of the mobile robots navigations, where the accuracy of path depends upon the environmental mapping and localization. Several path planning approaches are already used for accurate path planning such as Dijkastra's Algorithm, Visibility Graphs, Cell Decomposition Technique, A* and Modified A* Algorithms etc. A* method does not support the accurate path planning if the size of the robot is larger than the size of the cell. In such situations it is difficult to move the mobile robot through narrow door or passage. This paper presents the new approach of path planning technique in which the virtual size of the obstacle present in the environment is assumed to be increased approximately (2n+1) times of the size of the cell. The experimental analysis of the proposed method shows the improvement in the path planning which reduces the chances of collisions. The paper is organized as follows: the first section of the paper represents the detail literature review and path planning strategies. The second part of the paper deals with the problem statement and proposed methodology. The last section shows the simulation results for indoor environmental path planning.