An optimal path planning method for mobile robot

Abstract

In view of problem of low efficiency of path planning for mobile robot, an optimal path planning method for mobile robot based on improved shortest path faster algorithm was proposed. On the basis of rules, the method addes start point and terminal point to Voronoi diagram with obstacles, so as to obtain non-collision path graph, then uses the improved shortest path faster algorithm to search an optimal non-collision path between the start point and the terminal point. The simulation result shows that the mobile robot can reach the terminal point rapidly along with the optimal non-collision path by use of the improved algorithm.

Keywords

• mobile robot
• path planning
• voronoi diagram
• shortest path faster algorithm