Short-Safe Compromise Path for Mobile Robot Navigation In A Dynamic Unknown Environment

This paper presents a path planning method for a mobile robot in an environment that is unknown and can change. This method relies on continually sensing the local environment. Robot and personnel safety is a dominant and essential requirement for this path planning method. A new method for obtaining safe directions in a tessellated map of the environment is introduced. Linear combination of vectors is used to obtain the path that is a compromise between the safest and the shortest path. The path enables a mobile robot to reach its goal directly and safely. 1