Robot path planning usingwavefront approach with wall-following

摘要

This paper presents a new method for motion planning of mobile robots in dynamic environments based on wave expansion approach which avoids wave re-expansion in sudden obstacles case. Wave re-expansion in big scale environments takes considerable amount of time and process. A new wave expansion algorithm for path finding, either local minima or sudden obstacles are met, has been proposed, as so-called impeditive wall following algorithm, that prevents re-expansion of wave. Furthermore, the simulation results reflects that how the work has improved the already-existing methods. By the use of impeditive wall following algorithm it's been tried to prevent the re-expansion of the wave.