A Path Planning Algorithm for Mobile Robot with Restricted Access Area

Abstract

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In the actual path planning of the mobile robot, the algorithm planning of the robot is almost always to find the shortest path, but if the robot is in a narrow working environment with many corners, it will make the robot too close to the obstacle, and the robot’s edge will contact with the obstacle, resulting in the path planning failure. In order to solve the security problem of mobile robot path planning, we put forward a kind of inflation obstacles, refinement algorithm first determine skeleton and area of the mobile robot on the map, and then the refinement algorithm can get skeleton to improve traffic area, connected to the path of starting point and end point, define the passage area. Then by searching the first and second nodes, we can find the optimal path that accords with the safety of the robot. The new path planning algorithm can realize non-collision planning, improve the safety and stability of the robot, and verify its effectiveness and authenticity through simulation results.