A New Robot Path Planning Method Based on Probabilistic Foam

Abstract

This paper analyzes the characteristics of the path obtained using a new robot path planning method. In this method, the free space is partially covered by a set, called probabilistic foam, composed by overlapping convex subsets, called bubbles. The path from an initial configuration to a desired final configuration is found through a search tree constructed by randomly propagating de foam through the free space. Computer simulation results show that the obtained path is relatively short and the maneuvering space can be easily quantified by the size of its bubbles.