Search strategy of path for mobile robot

摘要

In this paper, a model-based strategy is used to realize rapid searching of the shortest path in order to solve the global optimizing problem in the path planning of the mobile robot. The Hough transform is used to build the cell map of the working environment for the mobile robot by extracting the fringes information of the solid obstacles and map them into a 2D plane. We simplify the construction of the state space and design of the search strategy based on free cells' evaluation by the distance which is between the start point and the goal point. The relatively shortest path's search is realized through the state space of the cell map by path search tree. The experimental and simulation results show that the path search strategy doesn't need complicated computations. Furthermore it is effectiveness in completeness, time complexity, space complexity and optimality.