Optimum Path Planning for Mobile Robots in Static Environments using Graph Modelling and NURBS Curves

摘要

This paper proposed a new approach for optimum path planning in 2D environments cluttered with static obstacles. The presented model consists of four steps.In the first step, the skeleton of free obstacles space is extracted. The thin lines are converted into a graph in the second step, the determination of shortest length trajectory is done in the third step. The last step is consacred to construct the optimal path with a NURBS curve. Quantitative analysis are presented to validate the approach.