A new strategy for robot path planning based on the finite element method
Zhang Cao, Qing‐Hao Meng, Huaxiang Wang, Lijun Xu · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
This paper discusses a new model that integrates the environment information for the robot path planning. This model could be regarded as a generalization of the artificial potential (AP) method. The path with the least turning angles, i.e. the smoothest, is defined as the optimal path. The finite element method is used to construct global optimum path planning strategy for a robot in a known environment for both static and dynamic cases. Simulation results show that this method is feasible for the path planning of a point robot in a complicated environment.