An Homotopy Path Planning Method with automatic fixed value assignation of repulsion parameter for mobile robotics

Abstract

The present work proposes the implementation of a collision-free path with automatic assignment of repulsion parameters, the solution space where this path is located includes rectangle-shape and circled-shape obstacles with different dimensions, all this information generates a Nonlinear Algebraic Equations System (NAES). The Homotopic Path Planning Method (HPPM) is being used to find points that compose the solution of this system based on the Homotopic Continuation Method (HCM) and complemented with the use of the Spherical Algorithm (SA). An automatic assignment alternative is being proposed with fixed Repulsion Parameter based on the obstacle location about the ideal path and taking into account any possible obstacle neighborhood.