Path Planning for Autonomous Mobile Robots: A Review

Area of Science:

• Robotics
• Artificial Intelligence
• Autonomous Systems

Background:

• Autonomous mobile robots require path planning for navigation.
• Existing reviews of path planning algorithms are incomplete.
• Selecting appropriate algorithms is challenging due to numerous approaches.

Purpose of the Study:

• To provide a clear and comprehensive overview of path planning research.
• To classify existing path planning algorithms.
• To analyze algorithms applicable to autonomous ground vehicles and extendable to other surface robots.

Main Methods:

• Global classification of path planning algorithms.
• Analysis of environmental representation models.
• Consideration of robot mobility and dynamics in path planning.
• Review of algorithm applicability.

Main Results:

• A global classification of path planning algorithms is presented.
• Focus on algorithms for autonomous ground vehicles, with extensions to other surface robots.
• Discussion on environmental models, robot mobility, and dynamics.

Conclusions:

• The paper serves as a foundational resource for understanding path planning algorithms.
• The classification aids in selecting appropriate algorithms for various robotic applications.
• The study highlights the importance of environmental and robot-specific factors in path planning.