A novel path planning algorithm for autonomous robot navigation

摘要

This paper presents a methodology for path planning using maps generated by processing range values returned by ultrasound sensors. Given a static and unstructured environment with high obstacle density, this paper proposes an algorithm which generates the shortest possible path from the source to the destination. The proposed method tackles the problem of path planning in the presence of randomly shaped and concave obstacles. The algorithm has been successfully tested and verified for various obstacle distributions.