Path planning with obstacle avoidance based on visibility binary tree algorithm |
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| Authors: | Abdulmuttalib Turky Rashid Abduladhem Abdulkareem Ali Mattia Frasca Luigi Fortuna |
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| Affiliation: | 1. Electrical Engineering Department, University of Basrah, Basrah, Iraq;2. Computer Engineering Department, University of Basrah, Basrah, Iraq;3. DIEEI, Faculty of Engineering, University of Catania, Catania, Italy |
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| Abstract: | In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and outer visible tangents between robot and circular obstacles. The paths are then used to create a visibility binary tree on top of which an algorithm for shortest path is run. The proposed algorithm is implemented on two simulation scenarios, one of them involving global knowledge of the environment, and the other based on local knowledge of the environment. The performance are compared with three different algorithms for path planning. |
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| Keywords: | Path planning Obstacle avoidance Visibility graph Bresenham algorithm |
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