Recent Advances in Robot Path Planning Algorithms: A Review of Theory and Experiment


Hadi Jahanshahi
Department of Aerospace Engineering, University of Tehran, Iran

Naeimeh Najafizadeh Sari
Department of Mechanical Engineering, University of Manitoba, Canada

Viet-Thanh Pham
Faculty of Electrical and Electronic Engineering, Phenikaa Institute for Advanced Study (PIAS), Phenikaa University, Vietnam, and Phenikaa Research and Technology Institute (PRATI), A&A Green Phoenix Group, Vietnam

Roya Khajepour
Department of Mechanical Engineering, K. N. Toosi University of Technology, Iran

Christos K. Volos
Department of Physics, Aristotle University of Thessaloniki, Greece

Series: Robotics Research and Technology
BISAC: TEC037000

The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high-risk areas and risk management are the other features that will be mentioned in the introduction of the methods.

The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book.
The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods.

In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment.

The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on the vision sensor, typically known as the best sensor, within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter.

In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot’s performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed with the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.
(Imprint: Nova)



Table of Contents


Chapter 1. Introduction

Chapter 2. Path Planning in Unknown Environments

Chapter 3. Path Planning in Known Environments

Chapter 4. Path Planning and Robot’s Hardware

Chapter 5. Implementation of Path Planning Algorithms



This book has been written as a course book for graduate and undergraduate students. Also, it can serve as a reference for students and researchers of Aerospace, Mechanical and control Engineering. This book will serve the growing community of students, researchers, and engineers interested in robot’s path planning methods. Particularly this book can be used by the students who aim to join the world robotic cups. In industries that robots are utilized, whether in large proportions, or small industries, this book can play a training role for the staff.


Robot Navigation, Robot Path Planning, Path Planning Algorithms, Humanoid Robot, Mobile robot

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