A Novel Offline Path Planning Method

This paper investigates a novel offline path planner for single point robots in cluttered environments. In order to achieve the best results in building shortest collision free trajectory lengths from initial to the goal configuration, we considered a multi-layer solution in the form of a unique algorithm that works as a unit on workspace elements such as obstacles and determines proper trajectories. In addition, we have employed multiple parameters in our path planner to increase its level of flexibility to be able to maneuver on different scenarios related to the workspace components layouts. This versatility has increased our planner capabilities to override constraints related to diversity of environmental specifications as well as adjustment to the robot equipment constraints. Keywords— Navigation, Path planning, Rapidly Optimizing Mapper, Robot trajectory builder