A New RT Shortest Path Planning Algorithm For Mobile Robot Navigation In Known Terrain

Shortest path planning is the basic and fundamental topic in the navigation system of mobile robotics, but this is the main research field of mobile robotics. Previously so many path planning algorithms are proposed. This paper proposed a new methodology for mobile robot path planning in known terrain with rotation and transformation obstacles, inspired by the bug algorithm. Using the Rotation and Transformation algorithm find the optimal shortest path in known terrain. It works by moving a mobile robot in path detect any obstacle whether it moves rotation or transformation, a mobile robot will assume the new shortest path avoid that obstacle. This path is the best path compared by standard bug2 algorithm consider it has a avoid different shapes obstacles to reach goal point. This algorithm is tested in a mobile robot having a laser sensor, shown and included simulation results.

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