A Review of Representation, Model, Algorithm and Constraints for Mobile Robot Path Planning

Abstract

Path Planning of intelligent artificial autonomous mobile robots is a critical technology to achieve the task of exploration, cruise, moving etc. A large set of methods and algorithms have been introduced to solve the path planning problem in complex environment, due to huge number of research has been done in the procedure of developing large practical used autonomous mobile robots, rovers, vehicles, airplane, ship, submarine in variety of application filed in recent years such as agricultural, industry, military, space exploring. This paper collects and presents the different represents, models and planning algorithms in the application of path planning of robots. The aims of this paper are to draw a whole procedure of robot path planning, to present a detailed analysis of the available technology in each designing phase, to make a useful comparison in critical performance between different algorithms. All the methods described are based on their characteristic and the performing environment. The analysis shows that despite the large number of methods developed for path planning in different environment and variety usage, considering the complexity, completeness, effectiveness and optimality, random sample based methods are the trend which can be efficiently used to solve practical complex path planning problem. There are also some suggestions of methods’ choice in each designing phase such as environment construct, representation, and algorithm.