Path generation and mapping based on global vision for mobile robots in structured environments

摘要

This document presents the results of the implementation of three classical path planning algorithms for mobile robots in structured environments (Voronoi diagrams, visibility graphs and cell decomposition), using mobile robot platform Pioneer 3DX and a global vision system. Also this document shows a comparision of generated paths by each implemented algorithm, based on different criteria, (Path length, distance to obstacles, computational cost, smoothness), for determining strengths and weaknesses of each one.