Path Planning of An Autonomous Mobile Robot With Multiobjective Functions

摘要

Path planning contributes a significant role in a mobile robot. The accuracy of path depends upon mapping and limitation of an indoor environment. Various methodology are now in applications like A* Algorithms, D* Algorithm (Heuristic Approach), Dijkstra's Algorithm (Deterministic methodology), Cell Decomposition Technique. This paper considers the path planning strategy with different target point. Global path planning method always considers the static obstacles in fixed environment where the indoor environment matrix of 50×50 with static obstacles has taken for simulation. In this paper, we propose a multi-objective method for solving the path planning problem using A* algorithm. It is a multi objective algorithm and handles three particular objectives(multiple destinations, minimum distance and safety).Consider two initial distance point on the grid, that construct a minimum distance path by using A* algorithm. At the destination node the minimum path has been calculated by adding all the minimum distance of two consecutive-nodes. For a safe simulation of path planning also virtual cell are consider around the static obstacles, so for the collision free or safe path has been created with shortest distance at multiple nodes or target.