Path-Planning for Robot Based on Grid Algorithm

Abstract

An algorithm using grid for robot's path planning was proposed. Using probability search, a sub-optimal shortest path was obtained first under the entire searching environment divided roughly through no entirely feasible grids belonging to entirely feasible grids. Then, by returning no entirely feasible grids to original environment and removing those invalid grids, a shortest collision-free path was obtained under the isocon descending strategy of grid length.