Collision-free path planning for mobile robots and/or AGVs using simulated annealing

Abstract

This paper describes a technique to obtain an optimal collision-free path for mobile robots and/or automated guided vehicles (AGVs) in 2D and 3D by synthesizing a B-spline curve. The problem is formulated as a combinatorial optimization problem and solved by using simulated annealing. A two-link planar manipulator is included to show that a curve can also be synthesized by adding some kinematic characteristics of a robot. Several examples in 2D and 3D are presented to demonstrate the robustness of the technique. Future research is discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>