Path Planning Method for Mobile Robot

The target of path planning is to finding an optimal non-collision path according to task. Its main content is movement modeling, environment modeling and path searching. Analyze the movement model of mobile robot. The method of Voronoi diagrams for general figures by approximation structuring is utilized and the origin and terminal are joined into it to construct the non-collision road map. Dijkstra algorithm is applied to search the shortest path between origin and terminal. Simulation results demonstrate that the method is simple and effective.