Point to point sensor based path planning algorithm for autonomous mobile robots

Abstract

The Bug algorithm is a local path planning methodology which detects the nearest obstacle as a mobile robot moves towards a target with limited information about the environment. It uses obstacle border as guidance toward the target. In Bug algorithm, the robot circumnavigates the obstacle till it finds certain condition to fulfill algorithm criteria to leave the obstacle toward target point. This paper introduces an approach utilizing a new algorithm called PointBug that attempts to minimize the use of outer perimeter of an obstacle (obstacle border) by looking for a few important points on the outer perimeter of obstacle area as a turning point to target and finally generates a complete path from source to target. The less use of outer perimeter of obstacle area produces shorter total path length taken by a mobile robot. This approach is then compared with other existing selected local path planning algorithm for total distance and a guarantee to reach the target.