Path Planning for Autonomous Mobile Robots: A Review

Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how...

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Published inSensors (Basel, Switzerland) Vol. 21; no. 23; p. 7898
Main Authors Sánchez-Ibáñez, José Ricardo, Pérez-del-Pulgar, Carlos J., García-Cerezo, Alfonso
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 26.11.2021
MDPI
Subjects
Algorithms
autonomy
Classification
guidance
Humans
Planning
Review
Robotics
Robots
route
survey
trajectory
vehicle
autonomy
route
guidance
wheeled
sampling
survey
graph search
trajectory
vehicle
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Abstract Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how to move from its location at one moment to another. Looking for the most appropriate path planning algorithm according to the requirements imposed by users can be challenging, given the overwhelming number of approaches that exist in the literature. Moreover, the past review works analyzed here cover only some of these approaches, missing important ones. For this reason, our paper aims to serve as a starting point for a clear and comprehensive overview of the research to date. It introduces a global classification of path planning algorithms, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats. Moreover, the models used to represent the environment, together with the robot mobility and dynamics, are also addressed from the perspective of path planning. Each of the path planning categories presented in the classification is disclosed and analyzed, and a discussion about their applicability is added at the end.
AbstractList Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how to move from its location at one moment to another. Looking for the most appropriate path planning algorithm according to the requirements imposed by users can be challenging, given the overwhelming number of approaches that exist in the literature. Moreover, the past review works analyzed here cover only some of these approaches, missing important ones. For this reason, our paper aims to serve as a starting point for a clear and comprehensive overview of the research to date. It introduces a global classification of path planning algorithms, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats. Moreover, the models used to represent the environment, together with the robot mobility and dynamics, are also addressed from the perspective of path planning. Each of the path planning categories presented in the classification is disclosed and analyzed, and a discussion about their applicability is added at the end.
Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how to move from its location at one moment to another. Looking for the most appropriate path planning algorithm according to the requirements imposed by users can be challenging, given the overwhelming number of approaches that exist in the literature. Moreover, the past review works analyzed here cover only some of these approaches, missing important ones. For this reason, our paper aims to serve as a starting point for a clear and comprehensive overview of the research to date. It introduces a global classification of path planning algorithms, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats. Moreover, the models used to represent the environment, together with the robot mobility and dynamics, are also addressed from the perspective of path planning. Each of the path planning categories presented in the classification is disclosed and analyzed, and a discussion about their applicability is added at the end.Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how to move from its location at one moment to another. Looking for the most appropriate path planning algorithm according to the requirements imposed by users can be challenging, given the overwhelming number of approaches that exist in the literature. Moreover, the past review works analyzed here cover only some of these approaches, missing important ones. For this reason, our paper aims to serve as a starting point for a clear and comprehensive overview of the research to date. It introduces a global classification of path planning algorithms, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats. Moreover, the models used to represent the environment, together with the robot mobility and dynamics, are also addressed from the perspective of path planning. Each of the path planning categories presented in the classification is disclosed and analyzed, and a discussion about their applicability is added at the end.
Author Sánchez-Ibáñez, José Ricardo
Pérez-del-Pulgar, Carlos J.
García-Cerezo, Alfonso
AuthorAffiliation Space Robotics Laboratory, Department of Systems Engineering and Automation, Universidad de Málaga, C/Ortiz Ramos s/n, 29071 Málaga, Spain; carlosperez@uma.es (C.J.P.-d.-P.); ajgarcia@uma.es (A.G.-C.)
AuthorAffiliation_xml – name: Space Robotics Laboratory, Department of Systems Engineering and Automation, Universidad de Málaga, C/Ortiz Ramos s/n, 29071 Málaga, Spain; carlosperez@uma.es (C.J.P.-d.-P.); ajgarcia@uma.es (A.G.-C.)
Author_xml – sequence: 1
  givenname: José Ricardo
  orcidid: 0000-0002-5130-3808
  surname: Sánchez-Ibáñez
  fullname: Sánchez-Ibáñez, José Ricardo
– sequence: 2
  givenname: Carlos J.
  orcidid: 0000-0001-5819-8310
  surname: Pérez-del-Pulgar
  fullname: Pérez-del-Pulgar, Carlos J.
– sequence: 3
  givenname: Alfonso
  orcidid: 0000-0003-3432-3230
  surname: García-Cerezo
  fullname: García-Cerezo, Alfonso
BackLink https://www.ncbi.nlm.nih.gov/pubmed/34883899$$D View this record in MEDLINE/PubMed
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Snippet Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove...
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StartPage 7898
SubjectTerms Algorithms
autonomy
Classification
guidance
Humans
Planning
Review
Robotics
Robots
route
survey
trajectory
vehicle
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Title Path Planning for Autonomous Mobile Robots: A Review
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Volume 21
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