A V-graph based global path planning algorithm for mobile robot

Abstract

A V-graph based global path planning algorithm for mobile robot was proposed for such problems that the adaptability and real-time ability of the free space based path planning method are not good enough to change with environment and the connectivity model needs to be reestablished.The proposed algorithm can well remedy the shortages of the free space based path planning method.The obstacles with complex contour can be regarded as a combination of rectangles to establish the obstacle boundary map.The path planning algorithm for mobile robot can be realized according to the obtained map.The simulation results prove the effectiveness of the proposed algorithm.