A Novel Approach to Optimizing the Initial Path of Mobile Robots in Static Environments

Path planning is one of the most important tasks for autonomous mobile robots. The purpose of path planning is to find a collision-free path from a starting position to a target position due to specific criteria such as distance. This paper proposes a modified path improvement algorithm based on the former and later points. In the initial path, some points are randomly placed on the line segments that have the necessary condition. New positions of points in the path are calculated by their adjacent points. This approach explores the most optimal path between different values of angle for the different number of segments. A method is proposed in which the initial path in the line segments that contain the turns adheres to the obstacles in the way. This operation makes a shorter path. Experiments are conducted on six maps and the results indicate that the proposed method achieves a considerable optimization in the final path.