Path planning algorithm for a mobile robot

Kuo Chin Fan, Po Chang Lui

Research output: Contribution to journalConference articlepeer-review


The task of path planning in mapped environments is well-known in robotics. Given an object and a set of obstacles located in space, the problem is to find a shortest path for the object from the initial position to the goal position which avoids collisions with obstacles along the way. In this paper, we will present a path planning algorithm to solve the find-path problem. The advantages of this algorithm are that it is quite fast and it finds the shortest path which avoids obstacles generously rather than avoiding them barely.

Original languageEnglish
Pages (from-to)1010-1021
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Issue numberpt 2
StatePublished - 1991
EventApplications of Artificial Intelligence IX - Orlando, FL, USA
Duration: 2 Apr 19914 Apr 1991


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