Efficiency Considerations of an Offline Mobile Robot Path Planner

The aim of disseminating this research article is to showcase a novel path planner method, which is shown to be an efficient offline path planner in terms of its capacity for analyzing workspace robot maneuvering skills and constructing collision free trajectories that yield the shortest possible path from initial point toward goal configuration. The determined route is considered to be adequately secure such that it enables the mobile robot to maneuver among obstacles in the workspace without dangers of encountering a near miss. In addition, this paper evaluates our novel path planner algorithm abilities and skills by examining it against different workspaces. We assess our novel path planner by comparing it to two of the most popular planners with the purpose of revealing its capability to route trajectories in regards to building optimal trajectory distances from initial to the goal configurations. Keywords— Path planning, Rapidly Optimizing Mapper, Robot path planning, Robot trajectory builder