GLOBAL PATH PLANNING FOR MOBILE ROBOT WITH GRID-TYPE WORLD MODEL

This paper presents a new methodology for global path planning for an autonomous mobile robot in a grid-type world model. The value of a cer tainty grid representing the existence of an obstacle in the grid is c alculated from readings of sonar sensors. In the calculation, a way of utilizing three sonar sensor readings at a time is introduced, result ing in a more accurate world model. Once the world model is obtained, a network for path planning is built by using the model. The global pa ths, defined as the shortest paths between all pairs of nodes in the n etwork, are calculated. A fast algorithm using a decomposition techniq ue is proposed for real-time calculation. The new methodology has been implemented on the mobile robot whose role is to transport materials in a flexible manufacturing system. The results show that the proposed method of certainty grids satisfactorily represents a precise environ ment, including the locations of obstacles. Thus, the robot successful ly comprehends its surroundings, and navigates to its destinations alo ng optimal paths.