Path planning in mobile robots must ensure optimality of the path. The optimality achieved may be in path, time, energy consumed etc. Path planning in robots also depends on the environment in which it operates like, static or dynamic, known or unknown etc. Global path planning using A* algorithm and genetic algorithm is investigated in this paper. A known dynamic environment, in which a contro...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

One of the most significant challenges in mobile robotics are found in the autonomous navigation area, where the robot must be able to feel and act in an uncertain and geometrically restricted environment, without suffering any type of external interference. The development of an architecture that allows the autonomous navigation arises as a unique combination of issues such as perception, loca...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

The artificial potential field based path planning has been most wisely used for local path planning because it provides simple and efficient motion planners for practical purposes. However, this approach has a local minimum problem which can trap a robot before reaching its goal. The local minimum problem is sometimes inevitable when a mobile robot moves in unknown environments, because the ro...

This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...

In this paper path planning and obstacle avoidance for a statically stable biped robot using PRM and reinforcement learning is discussed. The main objective of the paper is to compare these two methods of path planning for applications involving a biped robot. The statically stable biped robot under consideration is a 4-degree of freedom walking robot that can follow any given trajectory on fla...

An abstraction of the problem of multi-robot path planning is introduced in this paper. The basic task is to determine spatial-temporal plan for each robot of a group of robots where each robot is given its initial position in the environment and it needs to go to the given goal position. Robots must avoid obstacles and must not collide with each other. The abstraction adopted in this work mode...

Along with the development of robot technology, a robot not only need to complete a specific task, but aslo need to do path planning in the process of performing the task. So, path planning is widly studied. This paper introduce a method of robot path planning based on reinforcement learning,which aimed at Markovian decision process. In this paper, we introduce the basic concept, principle and ...