Path planning for mobile robots in complex environment via laser sensor

Abstract

A path planning system is designed in this paper. The environmental model is constructed with the straight line segment. Characteristics of the straight line segment is extracted from the laser sensor readings. The environment is depicted in the form of Voronoi. The Dijkstra method is the key to generate the reference path based on the Voronoi diagram. With the Voronoi diagram, a shortest path to the goal position with no collision of obstacles is planned. The results show that the designed motion planning system is feasible and effective.