Modified 2-Way Wavefront (M2W) Algorithm for Efficient Path Planning

Abstract

In this paper modified 2-way wavefront algorithm(M2W) is introduced for the discretized path planning problem. The proposed scheme uses the Glasius model, wavefront navigational function, and adaptation of Artificial Potential Fields (APF) for effective obstacle avoidance. Unlike the APF, it does not suffer from local minima, and it addresses the shortcoming of the navigational method by generating paths that are not “too close” to obstacles. Furthermore, compared to the Glasius model, M2W's computation time is significantly reduced, especially in a complex workspace with a higher density of obstacles. The proposed algorithm is also simulated with an additional set of planning constraints to demonstrate the adaptability of the M2W for constraint planning problems.

Keywords

• Robotic path planning
• Safe path generation
• Wavefront algorithms
• Self-organizing maps
• Artificial potential fields
• Navigational function