Motion planning for a mobile robot

Abstract

The mobile robots have received considerable attention in the scientific literature. One of the fundamental problems in mobile robotics is motion planning. Motion planning has several constraints, such as: knowledge of the scene, the existence of obstacles, their dimensions, the types of obstacles (static or dynamic), and the metric under consideration. Many existent solutions are based on cell decomposition of the scene. The cells are either free either occupied with an obstacle. The solutions are obtained based on graphs or exploration matrices. This paper presents an application for planning the motion of a wheeled robot in a delimited space. The robot has also the role to acquire information from the scene and send them to the user. The plane of the scene is specified by the user in a file with a certain format and the robot motion is represented in real-time.