Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

This paper presents a development of novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot problem in two-dimensional map with presence constraints. approach gives possibility to find wheel considering some constraints during movement both known and unknown environments. The feasible is determined between start goal positions by generating wave points all direction towards point adhering In simulation, proposed method has been tested several working environments different degrees complexity. results demonstrated that able generate efficiently an optimal collision-free path. Moreover, performance was compared A-star laser (LS) algorithms terms length, computational time smoothness. revealed shortest less best smooth As average, GLS faster than A* LS 7.8 5.5 times, respectively shorter 1.2 1.5 times. order verify developed dealing constraints, experimental study carried out using Wheeled Mobile Robot (WMR) platform labs roads. work investigates complete autonomous WMR lab road live video streaming. Local maps were built data from streaming real-time image processing detect segments analogous-road or real-road shows trajectory comparison simulator.