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Mobile Robotics Path Planning Methods

The document discusses various path planning methods in mobile robotics, including Road Map, Cell Decomposition, and Potential Field methods, each with its advantages and disadvantages. Applications span across autonomous vehicles, industrial robots, service robots, military, space exploration, and healthcare. The conclusion emphasizes the importance of adaptive and reliable path planning for enabling robots to navigate dynamic and uncertain environments.

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tirthanff2006
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16 views9 pages

Mobile Robotics Path Planning Methods

The document discusses various path planning methods in mobile robotics, including Road Map, Cell Decomposition, and Potential Field methods, each with its advantages and disadvantages. Applications span across autonomous vehicles, industrial robots, service robots, military, space exploration, and healthcare. The conclusion emphasizes the importance of adaptive and reliable path planning for enabling robots to navigate dynamic and uncertain environments.

Uploaded by

tirthanff2006
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd

h Planning in Mobile Robotics

Types of Path Planning

1. Road Map Methods

2. Cell Decomposition Methods

3. Potential Field Methods


Road Map Methods

•Represent the free space as a set of roads or networks.

•Visibility Graph – connects vertices of obstacles and finds the shortest path

•Voronoi Diagram – maximizes distance from obstacles, making paths safer but usually
longer.
Cell Decomposition Methods

•Divide the space into cells and classify them as free or occupied.

•Exact Cell Decomposition – based on obstacle geometry, accurate but complex.

•Approximate Cell Decomposition (grid-based) – simpler, memory-intensive, widely


used (e.g., grassfire algorithm).
Potential Field Methods

•Treat the robot as a particle in a field.

•Goal exerts an attractive force, obstacles exert repulsive forces.

•Robot follows the gradient downhill toward the goal.

•Simple and smooth but prone to local minima traps.


Applications of Path Planning

•Autonomous Vehicles – planning safe routes in traffic.

•Industrial Robots – arm manipulators avoiding collisions while


assembling products.

•Service Robots – vacuum cleaners, delivery robots navigating homes


or offices.

•Military & Space Exploration – drones, planetary rovers finding


routes in unknown terrain.

•Healthcare – robotic surgery tools moving safely inside constrained


environments.
Pros of Path Planning

•Ensures collision-free and safe navigation.

•Provides optimal or near-optimal paths, saving time and energy.

•Scales from simple 2D maps to complex, high-DOF robots.

•Can combine with real-time obstacle avoidance for robust navigation.


Cons of Path Planning

•Some methods are computationally expensive (e.g., visibility graph in dense maps).

•Grid-based methods consume large memory for big environments.

•Potential field methods face local minima issues (robot stuck in dead zones).

•Requires good sensor accuracy and reliable environmental maps.

•Dynamic environments make planning more complex.


Conclusion

•It ensures robots move from start to goal safely while avoiding
obstacles.

•Different methods provide varied solutions depending on the


environment.

•Hybrid approaches are often used in real-world robots.


•Advances in AI, sensors, and computing power are making path
planning more adaptive and reliable.
•path planning enables robots to work in dynamic, uncertain, and real
environments, making them truly autonomous.

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