A Multi Objective Hybrid Collision-free Optimal Path Finder for Autonomous Robots in Known Static Environments

The most important field of robotics study is path planning. Path planning problem in general an NP-complete problem. Though several attempts have been made using A*, PRM, RRT, and RRT* these algorithms explore too many nodes the state space, not completely captured kinematic constraints, are optimal real-time. In this paper, a Multi-Objective Hybrid Collision- free Optimal Finder (MOHC-OPF) proposed which attempt to obtain near-optimal solution by exploring fewer compare above existing methods while considering constraints aiming generate drivable paths. empirical revealed that algorithm capable detecting static obstacles finding collision-free nearest-optimal, smooth safe destination known environment. Multiple criteria, including length, collision-free, execution time, path, used determine path.. shows efficiency shortest length time decreased 90% experiments.