Path Planning of Mobile Robot in Unknown Environment | Zendy

Pradipta Kumar Das | Zendy; Romesh Laishram | Zendy; Amit Konar | Zendy

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Path Planning of Mobile Robot in Unknown Environment

Author(s) -

Pradipta Kumar Das,

Romesh Laishram,

Amit Konar

Publication year - 2010

Publication title -

international journal of computer and communication technology

Language(s) - English

Resource type - Journals

eISSN - 2231-0371

pISSN - 0975-7449

DOI - 10.47893/ijcct.2010.1032

Subject(s) - motion planning , computer science , mobile robot , path (computing) , heuristic , position (finance) , shortest path problem , plan (archaeology) , robot , metric (unit) , grid , grid reference , any angle path planning , mathematical optimization , real time computing , artificial intelligence , engineering , mathematics , computer network , theoretical computer science , operations management , graph , geometry , archaeology , finance , economics , history

In this paper, we study the online path planning for khepera II mobile robot in an unknown environment. The well known heuristic A* algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. The proposed path finding strategy is designed in a grid-map form of an unknown environment with static unknown obstacles. When the mission is executed, it is necessary to plan an optimal or feasible path for itself avoiding obstructions in its way and minimizing a cost such as time, energy, and distance. In our study we have considered the distance and time metric as the cost function. KeywordsRobotics, Navigation, Real time A* algorithm, path planning.

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