Abstract
A simple and efficient method for modelling a robot environment and an efficient on-line path planning algorithm are proposed to generate the optimal path within that environment. The suggested path planning algorithm is based on a good method for structuring the free space of a mobile robot environment into a set of overlapping prime rectangular areas PRAs that are suited to path planning and navigation tasks. The structuring of the free space environment starts by dividing the enlarged world map of that mobile robot environment into rectangular cells. These cells represent free and closed areas. Then, the free space in the specified environment is structured in terms of PRAs, and a connectivity table is constructed to provide the structure necessary for path finding. Using these results, a simple and computationally efficient algorithm is described which solves the pathfinding from a PRA containing the starting point to a PRA containing the goal point. Since movement between the PRAs cannot have fixed c...
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 callDisclaimer: 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.
