Robot motion planning using exact cell decomposition and potential field methods

Abstract

When studying mobile robotics and robot motion planning, there is always a gap which exists between theoretical achievements and practical considerations of the described methods. This paper clearly overrides the mentioned problem describing minutely the procedures necessary for practical implementations. Moreover, the known algorithms were optimized to reduce computational time. Also, two classic path planning procedures have been explained and adopted for the simulation in the Matlab and MobileSim environment. The algorithms have been presented together with their pseudo codes. The simulation results clearly show the advantages and drawbacks of each of the method.