Wheeled Mobile Robotics

Chapter 4

Path Planning

Abstract

This chapter defines path planning, lists possible fields of use, and states some additional terms that need to be met in the process of planning. Several possible ways to describe a planning problem and environment for the later path planning are given, such as graph representations, decomposition to cells, roadmaps, potential fields, and sampling-based path planning. Most commonly used search algorithms in path planning are described, starting with simple bug algorithms and continue with more advanced algorithms that can guarantee the optimal path and can include heuristics to narrow the search area or guarantee completeness. Also, some algorithms that do not require a fully known environment are introduced. ...