Optimization algorithm for mobile robot paths in the presence of multiple obstacles

Abstract

This paper presents path planning optimization for mobile robots using approximate routes. The desired path connects a given starting position to a target position under avoidance of static obstacles. The described approach of path planning using approximate routes is based on the determination of suitable reference points as auxiliary positions. The auxiliary positions, together with the starting and target position, form a polygonal path as a collision-free-route. Obstacles are considered usually in an order depending on their distances from the starting position. According to this fact we obtain collision-free paths, which vary in their properties (overall length, number of the steering events and intensity of the steering events) depending on the location and the form of the obstacles. Therefore in the presence of multiple obstacles, we can generate all possible paths by using all permutations for the order of the obstacles. Then the best of these paths can be chosen with respect to some optimality criterion that takes into account the above-mentioned properties. The results of this method will be discussed based on Matlab simulations and an implementation as part of the development of a system for fully automated stock-keeping.