Graph-Based Algorithm For Mobile Robot Navigation In A Known Environment

摘要

Autonomous navigation of mobile robots is a vast area of research in the field of robotics. Previous studies have proposed various approaches and algorithms in order to solve this problem. One of the important aspects of navigation is path planning which helps the robot to avoid obstacles and further to navigate it in the environments. There are different types of path planning. The robot should choose the shortest path or should cover the entire area of the environment. Coverage path planning algorithms does the latter. This paper completely focuses on these algorithms and proposes a new algorithm, a modified depth search so that, given a map, the robot can navigate in an environment, say a maze, without colliding into obstacles and plan its path in the maze.