A Novel Algorithm for mobile robot path planning

摘要

Robot path planning is a methodology that guides a robot to accomplish a mission through an uncertain environment optimally and safely. The primary responsibility involved in path planning is environment modeling and path searching. Path planning is generally specified as given a robot and a summary of an environment to find a collision path between certain predefined points. This paper presented a novel algorithm called generalized Laser Simulator (GLS) for path finding in a global environment. The methodology of this research consists of global path planning. The proposed algorithm is designed and presented. Simulation results show the algorithm's effectiveness in finding an optimal path to the set goal point from a defined start point. Lastly, the proposed algorithm is compared with the Laser simulator (LS) and A*method to verify its effectiveness. The Generalized laser simulator has advantages in the total time and path length compared to A* and laser simulator algorithm.