Practical Method for Real-Time Path Planning and Optimization for Mobile Robots

In the field of artificial intelligence and mobile robotics, calculating suitable paths, for point to point navigation, is computationally difficult. Maneuvering the vehicle safely around obstacles is essential, and the ability to generate safe paths in a real time environment is crucial for vehicle viability. A method for developing feasible paths through complicated environments using a baseline smooth path based on Hermite cubic splines is presented in this paper. A method able to iteratively optimize the path is also presented. This algorithm has been experimentally evaluated with satisfactory results