Simulation & Implementation of Shortest Path Algorithm with a Mobile Robot Using Configuration Space Approach

Abstract

A simulation & implementation of a shortest path from the source to the destination in the amidst of obstacles using configuration space approach both with translations & rotations is presented in this paper. One of the most important problems in robotics is the task-planning problem. A task is a job or an application or an operation that has to be done by the robot, whether it is a stationary robot or a mobile robot. The word ‘planning’ means deciding on a course of action before acting. Before a robot does a particular task, how the task has to be done or performed in its workspace has to be planned. This is what is called as Robot Task Planning (RTP). A plan is a representation of a course of action for achieving the goal. How the problem has to be solved has to be planned properly. Robot task planning is also called as problem solving techniques and is one of the important topics of Artificial Intelligence. For eg., when a problem is given to a human being to be solved; first, he or she thinks about how to solve the problem, then devises a strategy / plan how to tackle the problem. Then only he or she starts solving the problem. Hence, robot task planning is also called as robot problem solving techniques. Many of the items in task planning are currently under active research in the fields of Artificial Intelligence, Image Processing and Robotics. Lot of research is going on in the robot problem solving techniques. The simulation & the experimental results show the effectives of the method used.