COLLISION FREE PATH FINDING FOR MOBILE ROBOTS

Abstract

The problem of automatic collision-free path planning is central to mobile Robot applications. The basic problem of a mobile robot is that of navigation (moving from one place to another) by the coordination of planning, sensing and control. In any navigation- the desire is to reach a destination without getting lost anywhere. The image of the region, which is full of obstacle, is scan converted and stored in the form of quadtree. And then this quadtree is used to find a collision free path for a mobile robot from any given source to any given destination. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path--searching methods are introduced, which make use of this multi-resolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed