Enhanced Optimal Path Planning For Indoor Mobile Robot Navigation

Abstract

In realistic robotic application as well as many computer based newlinegames, the energy efficient precise navigation of moving agent newlineproblem is generally resolved using a more traditional uniform square newlinedescritized grid based path planning algorithm. Path finding can be newlinedefined as finding the safest optimal shortest path between any two newlinepoints within the application workspace. The A*and the Theta* path newlineplanning algorithm and their variants are the most preferred methods newlinedue to their design simplicity, computation time efficiency, most newlineoptimize path length and path completeness. newlineAlthough these available basic path finding algorithm try newlineto find optimal path(s), while sacrificing the major characteristic of noncollision newlineproperty along with path complexity. These path newlineplanning algorithms are either design with grid cell or edge-constrained newlinewhich touches the blocked grid cell as well as fail to explore collision newlinefree optimal path. Many path smoothing and path shaping methods are newlineused to enhance the path safety while sacrificing the partial path newlineoptimality. In realistic application workspace, combination of path newlinefinding and post path smoothing method introduce more complexity in newlinefinal path losing the true shortest paths property. newlineThere are two major shortcomings found in traditional algorithms. newlineThe first shortcoming of the grid based path planning method newlineis constrained of planning a path using either edges or vertices of a newlinedescritized workspace map. This restriction does not guarantee the newlineoptimality of the final explore path. Also, it fails to keep path optimality newlinewhile improves the path aesthetic using post path smoothing methods. newlinex newlineThe second important shortcoming is the path safety which means newlinecollision of navigational robot with other static and dynamic in-path newlineobstacles. Although the final explored path is shortest, but it fails to newlinemaintain safer distance throughout the robot navigation. Thus, the postprocessing newlinepath smoothing methods are used to achieve collision free newlinepath while maintaining the entire properties of edg