Path planning for a sequence of goals into a manufacturing scenario

Efficient path planning considering a sequence of goals in a manufacturing scenario is still challenging for nonholonomic robots. In this paper, we present an approach to improve the efficiency of path planning considering a sequence of goals for four-wheeled Drive Robots. Besides using a nearoptimal sampling-based algorithm applied in a map with real inflating obstacles, virtual obstacles are added to the map to help the generation of smoother paths that lead the robot from the start pose to its goals poses faster, with fewer mechanical efforts, and less power consumption.