Determination of Optimal Local Path for Mobile Robot

The paper presents the method of finding locally optimal path with respect to the safety of the mobile robot with non-holonomic constraints. The path is represented by the polyline and circular segments. Initial path is found in the geometrical centers of the corridors to pass through and is optimized using evolutionary algorithm. The complexity of path description can be sequentially increased, allowing to further improve the quality of the path while optimization can be interrupted any time. Minimal distance to the obstacles is taken as optimality criterion.