RandomBug: Novel Path Planning Algorithm in Unknown Environment

ABSTRACT

This paper presents a novel real-time path planning algorithm for an autonomous mobile agent in completely unknown environment. In this algorithm, all the planned paths are described and stored in the form of vectors in the algorithm. Only the rotation angle and the movement distance in a single direction are considered when the autonomous moves along the planned paths. The algorithm combines range sensor data with a safety radius, which determines the blocking obstacles and calculates a shorter path by choosing the random intermediate points. These random intermediate points are be generated when blocking obstacles exist in the current path. Then the optimal intermediate points are selected and inserted into the current path to regenerate a new planned path. Simulation results are shown that the proposed algorithm is effective.

Keywords: