Path Planning Implementation Using Matlab

Motion planning is essential part in robotics science; it is responsible for planning paths for robots. The robot follow this plan in order to reach the goal from its position, while avoid collision with obstacles. Planning modules could be configured to check the optimality, completeness, power saving, shortness of path, minimal number of turn, or the turn sharpness, etc. In this technical paper we review the probabilistically planner RRT (rapidly exploring random tree) as local/global planner and Cell Decomposition as global planner guide the RRT. We focus on implementation of these methods in Matlab environments.