A path planner of mobile robot based on multi-grid circuit map

Abstract

A path planner for mobile robots based on multi-grid circuit map is presented in this paper. The analogue between real physical space and grid circuit is firstly analysed. The fact that current flows along the branch with lower resistance is similar to the aim of path planning for short and broad path. The method presented in this paper is a local path planner with global characteristics. It can plan a short and wide path for robots and also overcome the shortcoming of local optimum in some path planners. The theoretical analysis and simulation prove its feasibility and advantage.