A Novel Approach for Visibility Search Graph based Path Planning

摘要

In this paper, a novel search graph approach has been developed to find a free-collision path in a complicated unknown environment. This algorithm gives the possibility to consider some constraints based on the real world path as in road or factory environments. The main feature of the proposed approach is it's capability to deal with unknown environments. To assess the capability of this algorithm to navigate through complex environment, it was implemented in a roundabout setting. A simulation study on the laser simulator based on the proposed algorithm for mobile robot system was performed using the MATLAB computational platform. In this simulation, a grid map of road roundabout environment was created and it was used in the selection of most optimum traveling path, based on the respective road traffic rules. The effectiveness of the developed navigation system was evaluated by including obstacles into the mobile robot's working environment. From the results, it is confirmed that the performance of the proposed path planning algorithm is outstanding and mobile robot is able to track the best path from selected start to the goal point, especially when detecting obstacles.