Path planning for a mobile robot in dynamic environments

摘要

Path planning for mobile robots has been gaining extensive research attention recently. Optimal path planning increases the effectiveness of a mobile robot. There are many algorithms to solve the path planning problems overcoming obstacles. However most of the algorithms are applicable to specific shapes or suitable for static environments. This paper introduces a new method of global path planning for a robot moving in an environment cluttered with obstacles which have arbitrary shape, size and location. The proposed algorithm is applicable to static, partially dynamic as well as dynamic environments containing obstacles. Simulation of variety of cases are presented and discussed.