Real-time path planning for the robot in known environment

Abstract

This article deals with path planning algorithms based on known representation of the environment. In terms of such planning choice of suitable environment representation is important. The introduction of this article is dedicated to this issue. The main body is concerned about the path planning algorithms. Several algorithms are described, verified and compared. Key contribution of this article is a comparison of these algorithms and their analysis of the suitability for various applications in mobile robotics.