Using modification of visibility-graph in solving the problem of finding shortest path for robot

摘要

This paper presents a solution for global optimized path planning with respect to finding the shortest distance for autonomous robotic system, particularly in two-dimensional space with a set of obstacles. The proposed approach is based on visibility-graph and the literature review of path planning is presented in details to explain why this approach is used. Through pros, cons, and complexity in the construction of a visibility-graph, the paper proposed two simple and efficient techniques to significantly reduce computation time in building a visibility-graph in the case of numerous obstacles. The experimental results, with a real robot, show that the proposed approach is efficient, feasible and straightforward to apply in practice.