Scara Robot Path Planning Through flood fill Algorithm

摘要

This document presents one of the most important algorithms in the mobile robot path planning (Flood Fill) to define the trajectory of a Scara robot, which is simulated in the Matlab software. The deduction presented in this document is intended to be applied to the principal robots that can be found in the industry, generating paths that aims to reduce the displacement, taking into account the presence of obstacles and physic restrictions. The results obtained show that it is possible to calculate the way to any point of the space work, as long as it is physically possible.