Virtual Obstacles for Sensors Incapacitation in Robot Navigation: A Systematic Review of 2D Path Planning

摘要

The field of mobile robot (MR) navigation with obstacle avoidance has largely focused on real, physical obstacles as the sole external causative agent for navigation impediment. This paper has explored the possible option of virtual obstacles (VOs) dominance in robot navigation impediment in certain navigation environments as a MR move from one point in the workspace to a desired target point. The systematically explored literature presented reviews mostly between the years 2000 and 2021; however, some outlier reviews from earlier years were also covered. An exploratory review approach was deployed to itemise and discuss different navigation environments and how VOs can impact the efficacy of both algorithms and sensors on a robotic vehicle. The associated limitations and the specific problem types addressed in the different literature sources were highlighted including whether or not a VO was considered in the path planning simulation or experiment. The discussion and conclusive sections further recommended some solutions as a measure towards addressing sensor performance incapacitation in a robot vehicle navigation problem.