Path Planning and Obstacle Avoidance for Autonomous Mobile Robots: A Review

  • Voemir Kunchev
  • Lakhmi Jain
  • Vladimir Ivancevic
  • Anthony Finn
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4252)


Recent advances in the area of mobile robotics caused growing attention of the armed forces, where the necessity for unmanned vehicles being able to carry out the “dull and dirty” operations, thus avoid endangering the life of the military personnel. UAV offers a great advantage in supplying reconnaissance data to the military personnel on the ground, thus lessening the life risk of the troops. In this paper we analyze various techniques for path planning and obstacle avoidance and cooperation issues for multiple mobile robots. We also present a generic dynamics and control model for steering a UAV along a collision free path from a start to a goal position.


Mobile Robot Path Planning Voronoi Diagram Obstacle Avoidance Goal Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Voemir Kunchev
    • 1
  • Lakhmi Jain
    • 1
  • Vladimir Ivancevic
    • 2
  • Anthony Finn
    • 2
  1. 1.School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems CentreUniversity of South AustraliaAustralia
  2. 2.Defence Science and Technology Organisation 

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