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Wave Front Method Based Path Planning Algorithm for Mobile Robots

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Book cover Proceedings of First International Conference on Information and Communication Technology for Intelligent Systems: Volume 2

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 51))

Abstract

Path planning problem revolves around finding a path from start node to goal node without any collisions. This paper presents an improved version of Focused Wave Front Algorithm for mobile robot path planning in static 2D environment. Existing wave expansion algorithms either provide speed or optimality. We try to counter this problem by preventing the full expansion of the wave and expanding specific nodes such that optimality is retained. Our proposed algorithm ‘Optimally Focused Wave Front algorithm’ provides a very attractive package of speed and optimality. It allocates weight and cost to each node but it defines cost in a different fashion and employs diagonal distance instead of Euclidean distance. Finally, we compared our proposed algorithm with existing Wave Front Algorithms. We found that our proposed approach gave optimal results when compared with Focused Wave Front Algorithm and faster results when compared with Modified Wave Front Algorithm.

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Author information

Authors and Affiliations

  1. ABV—Indian Institute of Information Technology and Management, Gwalior, India

    Bhavya Ghai & Anupam Shukla

Authors
  1. Bhavya Ghai
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  2. Anupam Shukla
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Corresponding author

Correspondence to Bhavya Ghai .

Editor information

Editors and Affiliations

  1. Deparment of CSE, Anil Neerukonda Ins. of Tech. & Sci., Vishakapatnam, India

    Suresh Chandra Satapathy

  2. Indian Statistical Institute, Jadavpur University, Kolkata, India

    Swagatam Das

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© 2016 Springer International Publishing Switzerland

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Ghai, B., Shukla, A. (2016). Wave Front Method Based Path Planning Algorithm for Mobile Robots. In: Satapathy, S., Das, S. (eds) Proceedings of First International Conference on Information and Communication Technology for Intelligent Systems: Volume 2. Smart Innovation, Systems and Technologies, vol 51. Springer, Cham. https://doi.org/10.1007/978-3-319-30927-9_28

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  • DOI: https://doi.org/10.1007/978-3-319-30927-9_28

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30926-2

  • Online ISBN: 978-3-319-30927-9

  • eBook Packages: EngineeringEngineering (R0)

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