Path planning algorithm based on search algorithm, edge detector and GPS data/satellite image for outdoor mobile systems

Abstract

The article deals about combination of search algorithm, satellite maps image data with edge detection for trajectory planning. Breath first algorithm is used to create ideal trajectory path for mobile platform movements to finish state. GPS data are used for selection start and finish point and acquiring of actual position of device on satellite maps. Satellite image data are used for obstacles detection by image edges detector to detect buildings. Virtual grid map is fulfilled with unreachable position according of data from edge detector analyzer. For real implementation of algorithm in real platform it is necessary to use local sensors (infrared, ultrasonic) for dynamic obstacle detection during movement and recreating trajectory. Introduced algorithm is specialized for usability in intelligent device for navigation in particular unknown environment in high urbanized areas.