Path Planning of Mobile Robot Based on Circuit Map

Abstract

A path planner in the way of circuit map is presented in this paper. The similarity of barrier distribution and grid circuit is analyzed. The phenomena of more current flowing along the branch with lower resistance and the aim of path planning for short and broad path are physically the same. The circuit map method is a local path planner with global characteristics. It overcomes the shortcomings of local optimum in some local path planner, like artificial potential field method. The results of theory analysis and simulation prove the feasibility and validity of this brand new method.