Mobile Robot Path Planning for Indoor Use

Abstract

The paper presents practical and theoretical results acquired during a scientific project addressing multi-robot control and management challenges with possible application in greenhouse automation solutions. The main focus of the paper is path planning of mobile robots addressing computation time and memory constraints in embedded robotic systems. The paper presents an analysis that is based on practically experienced cases and proposes modifications of the discussed RRT-based methods in order to ensure better quality of the planning result as well as saved time in specific cases. A key factor of the compareson analysis is time and memory usage that usually are limited in embedded devices like small scale mobile robots. The paper also presents experiment results collected using a prototype robotic system.