Review on Techniques for Path Planning Process in Robot Designing

Abstract

Path-planning is one of the basic and quite interesting issues in mobile robotic design since Mobile robot path planning has a few main properties according to type of environment, algorithm and completeness. The properties are whether it is static or dynamic, local or global and complete or heuristic. The static path planning refers to environment which contains no moving objects or obstacles other than a navigating robot and dynamic path planning refers to environment which contains dynamic moving and changing object such as moving obstacle. Meanwhile the local and global path planning depend on algorithm where the information about the environment is a priori or not to the algorithm. If the path planning is a global, information about the environment already known based of map, cells, grid or etc and if the path planning is a local, the robot has no information about the environment and robot has to sense the environment before decides to move for obstacle avoidance and generate trajectory planning toward target. The problems in path planning and its optimization is thus a popular research topic for many researchers across the globe, efforts are made in past to solve this problem and quite interesting results have been seen. In the present paper, a brief idea about the process of path planning in mobile robots with a short review of various contributions in improvising path planning process are presented.

Keywords: path planning, optimization, algorithm, mobile robot, industrial robot, probabilistic roadmap (PRM), genetic algorithm (GA), degree of freedom (DOF).