A robot path planning algorithm based on grid expansion

摘要

Presents a new robot path planning method used for path planning in the configuration space by expanding the grid from initial configuration to final configuration, and describes the process of expanding, the line between the first grid of candidate expanding grids to that on the other side and then expanding the grids along this line and concludes that if this line reaches the other side without meeting any obstacle on the way, a path is then found, and concludes that this method greatly reduces the expanding candidates of all the grids, reduces the searching space and speeds up the process of finding a path.