Article details

Title: Constrained Path Planning for Mobile Robots in Indoor Environments
Author(s): Damian Gorgoteanu   Cristian Molder         

Abstract: Finding a path to a goal is an easy task, but in most cases this path is not optimal for robot speed and this is transposed in more power consumption. In this paper we propose an update on Probabilistic Roadmap (PRM) path planning algorithm using Bezier curve for minimization of robot deceleration when it is taking turns.

Keywords: robot speed, path planning algorithm, Bezier curve

References:

[1] R. KALA- Codes for Robot Path Planning, http://rkala.in/codes.php
[2] C. MOLDER- Pattern Recognition: Descriptors, Vol. 1, Military Technical Academy Editing House, Bucharest, Romania, 2014 (in Romanian)
[3] R. SIEGWART, I.R. NOURBAKHSH, D. SCARAMUZZA- Introduction to Autonomous Mobile Robots,Second Edition, The MIT Press, Cambridge, UK, 2011