PATH PLANNING AND MAPPING WITH MOBILE ROBOT

Bi-arcs are used in this paper to solve the path-planning problem for mobile robot exploration because they meet two end-point and two end-tangent conditions, namely the initial and terminal positions and tangents of mobile robots. A path planning strategy and a corresponding tracking control algorithm, both for given environment, are presented based on bi-arc path representation. Meanwhile data of characteristics landforms such as corners and polygons are approximated using bi-arcs to derive a novel exploration and mapping algorithm for unknown environment. The method presented here is simple, effective and computationally undemanding and it has no restraints on the initial conditions of mobile robots.