A focused wave front algorithm for mobile robot path planning

Authors:
Anshika Pal;Ritu Tiwari;Anupam Shukla
Affiliations:
Soft computing and Expert System Laboratory, ABV-Indian Institute of Information Technology and Management, Gwalior, India;Soft computing and Expert System Laboratory, ABV-Indian Institute of Information Technology and Management, Gwalior, India;Soft computing and Expert System Laboratory, ABV-Indian Institute of Information Technology and Management, Gwalior, India
Venue:
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part I
Year:
2011

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Abstract

Robot path planning is about finding a collision free motion from one position to another. The wave front expansion is commonly used for path planning tasks and appreciated for its efficiency. However, this approach requires full wave expansion, which takes considerable amount of time and process, in large scale environments. This paper presents a new method for motion planning of mobile robots based on wave expansion approach which avoids full wave expansion. This method imposes a cost function, that focuses on some of the waves for expansion instead of trying to expand the entire waves, as socalled focused wave front expansion algorithm. The proposed approach has been tested through computer simulation, with a set of environments with different levels of complexity depending on the density of the obstacles. Finally, we compare the results of our proposed method to that of the existing wave front method.