Mapping-Based Navigation

Abstract

Given a map and a target position, a robot must perform path planning in order to determine the best route from its current position to the target position. Three algorithms for path planning are presented: Dijkstra's shortest path algorithm for a grid of cells, an algorithm for continuous maps and the A$$^{*}$$algorithm, an improvement of Dijkstra's algorithm that uses heuristic functions. The chapter concludes with a description of the integration of path planning with obstacle avoidance.