Multi-criteria trajectory base path planning algorithm for a moving object in a dynamic environment

摘要

The paper introduces a new, original approach for the application in robotics and automation. The application concerns a path planning module of an intelligent control system. The marine environment was chosen as an exemplary application area, but the method can also be applied for mobile robots. The presented approach calculates a safe, optimal path for a ship in a dynamic environment, where static and dynamic obstacles occur. The paper includes the background of the presented research, the description of a new method and results of simulation studies. Simulation tests covered simple and more complex scenarios with a few static and dynamic obstacles in the environment. The results proof the problem solving capability of the proposed approach and the potential of its applicability in commercial systems due to short computational time and satisfactory solutions.