Path Planning Algorithm for Car-like Robot and Its Application

Abstract

The problem of path planning is studied for t he case for a mobile robot moving in a known environment. An aggressive algorith m using a description of the obstacles based on a neural network is proposed. Th e algorithm allows to construct an optimal path which is piecewise linear with c hanging directions of the obstacles and the calculation speed for the proposed a lgorithm is comparatively fast. Simulation results and an application to a car_l ike robot Khepera show the effectiveness of the proposed algorithm.