Non holonomic shortest robot path planning in a dynamic environment using polygonal obstacles

Abstract

A collision free path planning method for the navigation of a circular mobile robot is presented. But this can be applied to a car-like robot, which has a restriction on minimum turning radius by making suitable assumptions. The navigation occurs in a dynamic environment with the presence of obstacles, modeled as polygon characterized by their offsets. We introduce a new methodology, for shortest robot path planning among polygonal obstacles in a dynamic environment using Mathematical Modeling with vector addition technique applied. The simulations presented show that the shortest path is generated and updated accordingly irrespective of number of obstacles encountered dynamically and that it considers the offset points of obstacles to automatically ensure perfect obstacle avoidance, regardless of the direction in which the robot is moving with less computation time.