Path Planning Algorithm for Mobile Robot

The paper presents an algorithm for planning the path of a mobile robot in a labyrinth. The algorithm uses an image, obtained by a camera. The algorithm processes the image to convert it into a matrix, presenting the labyrinth with obstacles and walls. Afterwards the algorithm finds the shortest path to a final target in the labyrinth. As opposed to the classical Dijkstra’s algorithm, the presented algorithm compares the size of the robot to the size of the obstacles on the way. A simulation of the algorithm is developed to visualize the movement of the robot. Experimental results, obtained by the simulation, are presented. Key-Words: Path planning, Robot, Labyrinth, Dijkstra algorithm, A* algorithm, Wave moving process.