Region Exploration Path Planning for a Mobile Robot Expressing Working Area By Grid Points
Yusuke Fukazawa, Chomchana Trevai, Jun Ota, Hideo Yuasa, Tamio Arai, Hajime Asama · Transactions of the Society of Instrument and Control Engineers · 2003
In this paper, region exploration path planning algorithm is proposed. In order for a mobile robot to perform this task, appropriate method to deal with the shape of the working environment, which may be intricate or curved, is necessary. In addition, a robot must be able to re-plan the exploration path as soon as possible when robot encounters unexpected objects. These challenges can be met by approximately expressing the working environment with grid points and regenerating the path using one that was planned beforehand. Simulations are used to demonstrate proposed exploration path planning and re-planning algorithm.