Space deformation based path planning for Mobile Robots.

An excellent path planning algorithm of a robot should compromise three major criteria; low computational time, high level of smoothness and optimal length. In this work, a hybrid algorithm is developed to enable the robot to navigate smoothly in a partially known environment with a low computation time. The proposed method takes as input a global path connecting a start and a target point, then an initial optimal smoothed path is generated which is accordingly updated due to unexpected changes in the workspace.