Fast Path planning on planar occupancy grid exploiting geometry of obstacles

摘要

To socialize a robot, a key aspect that needs to be addressed is a path planning, and motion planning. In the past a number of algorithms have been advanced for efficient computation of a path between a source and a goal location. In this paper a path planning algorithm on a two dimensional occupancy grid has been proposed. The method exploits the geometric properties of the obstacles to plan a feasible as well as acceptable path, keeping the path length close to the shortest possible length. Comparisons using performance measures such as, computational time, and the quality of path metric, have been carried out with a few state of the art algorithms to justify the effectiveness of the proposed method over the existing ones.