Method of Spatial Path Planning for Mobile Robot in Unknown Environment

Abstract

This paper deals with developing of method of spatial path planning for mobile robots of different types moving in unknown environment with obstacles. This method plans trajectories base on third-order Bezier splines using the data from onboard range sensors. It allows to automatically make decisions about the strategy of obstacles avoidance in horizontal or vertical planes considering the restrictions of mobile robots' propulsion system. Results of simulation confirm its high efficiency, low complexity and small computational capacity.