An overview of global path planning methods for mobile robots for industrial applications
Bonetti, Alessandro, Simone Guidetti, Lorenzo Sabattini · Zenodo (CERN European Organization for Nuclear Research) · 2022
This article presents an overview of one of the main problems in mobile robotics: path planning. It consists in finding a geometric collision-free path from a certain initial configuration to a final one. In particular, the global formulation requires the workspace to be fully known in order to generate a complete path avoiding obstacles before the robot begins its movement and, for this reason, the most well-known techniques of geometric representation of the environment are presented.