A new path planning and obstacle avoidance algorithm in dynamic environment

摘要

By developments of robotics and increments in utilizing this knowledge in different scientific and industrial branches, the issue of path planning, either in intelligent and online state, or by pre-determined algorithms has been arised as one of the discussion fields in control and specially robotics. In the path planning literature, several algorithms have been used repetitively, among which can be mentioned potential field algorithms and intelligent algorithms such as genetic and A-Star, in which the main challenge is to find an obstacle free path, not considering capabilities like computation time, considering obstacles in path finding procedure. In this paper, we developed a new path planning algorithm, not only find an obstacle-free path but also has an optimal computation time in term of obstacle importance and consider the issues like adjustable obstacle avoidance and smoothness of the final path. The intention of this paper is introducing a path planning which is able to be applied in a typical needle penetration surgery. The proposed algorithm, by suitable environment segmentation, as hexagonal segmentation, concludes to a path, that is very smoother than pathes which are resulted in other traditional algorithms.