A Comprehensive Paper on Mobile Robot Path Planning Using Wave Front Approach

Robotic Path Planning is one of the problems in the field of robotics that tries to find and optimize the path from the initial position to the final position. Commonly, there are many paths for robot to accomplish the task, but in fact the best path is selected according to some guideline. These guidelines are: shortest path, least energy consuming or shortest time. so, the robot path planning is a constrained optimization problem. Besides optimization, it needs to be ensured that the robot moves without any collision in the entire path it follows from the source to the destination. This would mean that the algorithm avoids all obstacles and reaches the destination starting from the source. This is also referred to as the navigation plan of the robot. The algorithms for path planning must be evaluated in terms of completeness and computational complexity. An algorithm is said to be complete in terms if it returns a valid solution to the path planning problem if one exists and returns failure if and only if the problem is not feasible. This is what we will call a correct termination for a path planning algorithm. The computational complexity of the algorithm is formulated by various problem specific performance matrices that are used for evaluation purpose. Robot path planning is about finding a collision free motion from one position to another. The wave front expression commonly used for path planning task and Appreciated for its efficiency. However, this approach requires full wave expresion, which take considerable amount of time and process, in large scale environment.