K-Bug, A New Bug Approach for Mobile Robot's Path Planning

摘要

This work presents the K-Bug algorithm, a new method for path planning of mobile robots belonging to the Bug family. The main idea of the algorithm may be used to improve the performance of existing methods of path planning that use local information, or as an entirely new method, if global information is available. It's also presented a short comparison of the methods found in literature, proving its efficiency, low computational cost and high robustness, even in complex environments.