Intelligent Mobile Robot Global Path Planning And Simulation

This paper is focused on global path planning in a known 3-D environment.Initially, common methods on modeling of environment and searching strategy are reviewed . The methods reviewed on modeling of environment include : Visibility Graph, Free Space and Grid . Searching strategy such as A* Algorithm, Generic Algorithm, Artificial Potential. Topological Method are discussed . In the review , the advantages and disadvantages of those methods are also listed .Then , Propagating Wave Method is thoroughly explored . The Matrix Propagating Wave method presented by Latombe and Lengyel and the Circle Propagating Wave method presented by Robert J. Szczerba are analysed . Based on those two methods, a new algorithm - Double Propagating Wave algorithm is presented to find a optimum global path . Compared with traditional methods , the new algorithm has the following advantages : obvious improvement on efficiency ; a better measurement for distance ; consideration for the influence of the environment on the path planning .In "the paper , the theory and implementation of the Double Propagation Wave algorithm are given . A simulation system is also developed to run the algorithm . The simulation shows that the algorithm is feasible and efficient.