Delaunay Graph Based Path Planning Method for Mobile Robot

Abstract

This paper introduces Delaunay graph into path planning for mobile robot for the shortest path. Delaunay Graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using Floyd algorithm. Path can be found easily with adaptive genetic algorithm by adjusting the parameter. Then genetic algorithm is used for obtaining the optimum path. Results of simulation show that this path planning method is simple and realized easily.