Abstract

In this paper, Bi-road Method (BRM) is proposed as a new path planning method to generate the shortest collision-free path with consideration of safety from the given start point to goal point for mobile robots working in the static and known 2D environment. While BRM shares the beneficial properties of existing path planning methods based on constructing graph, BRM can guarantee outputting the shortest collision-free path between two given points. Furthermore, BRM is purely complete (in our thought, a planner is purely complete if the planner outputs the correct path as long as there exists free space connected between two points, otherwise declares failure). Simulation results of comparision with MAKLINK graph verify the nice properties of Bi-road Method proposed in this paper.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.