An effective algorithm of shortest path planning in a static environment

Abstract

Path Planning is generating a collision-free path in an environment with obstacles and optimizing it with respect to some criterion. Because of its importance in robotics, the problem has attracted a considerable amount of research interest. In this paper, we present an effective algorithm of shortest path planning for planar mobile robot whose time complexity is O(4 × n), n is the geometric complexity of the static planar environment. The success of our algorithm relies on exploiting both a tabu restriction and the greedy strategy of the Dijkstra algorithm. Our experimental evaluations on four different test cases show that our algorithm produces the shortest path very quickly. © 2006 International Federation for Information Processing.