Mobile Robot Path Planning Using Wavefront Approach with WEFO

摘要

This paper presents a new method for motion planning of mobile robots in dynamic environments based on wave expansion approach which avoids full wave expansion in sudden and moving obstacles case. Full Wave expansion in large scale environments takes considerable amount of time and process. A new wave expansion algorithm for path finding, local minima, sudden obstacles and moving obstacle are met, has been suggested, as so-called wave expansion from obstacle (WEFO) algorithm that prevents re-expansion of wave. In moving obstacle case, the wave expanse in each step of the obstacle movement. Moreover, the simulation results reflects that how the work has enhanced the already-existing methods for path finding. By the use of WEFO algorithm it's been tried to prevent the re-expansion of the wave.