Multi Objective Path Planning in Static Environment using Region of Sight

摘要

Finding appropriate path, that avoids the hurdles and reach the goal in optimal way, has been an interesting challenge in recent years. In this paper, we present a new method for robot path planning in a static environment. The main aim; to tackle path planning in simple and fast method, seeks to satisfy many robot movement's requirements such as shortest path length, safety, smoothness with less time consuming. This method ensures that safety and smoothness criteria are already met, path length is then shortening the usage of environment details, where each point of this path can be seen only by its previous and next points. The obtained result is compared with the well-known methods and shows the superiority in simple and complex environments in term of time, smoothness and safety and the obtained path lengths are shorter than those obtained with PSO and ABC as well.