Path planning with obstacle avoidance for a mobile robot supporting industrial processes

The rapid development of mobile robotic platforms significantly influences the research of appropriate path planning algorithms. These algorithms must consider not only obstacle avoidance but also path length and shape, both of which impact the final trajectory the robot follows when navigating a designated path. In the presented research, our focus was on generating paths that avoid assumed obstacles while also minimizing the trajectory length produced by the robot when following a waypoint-based path. To evaluate our approach, we utilized several scenarios simulating industrial processes involving the processing of trapezoid-shaped frame. These scenarios designate a start point and final points based on the position and orientation of the processed object, and different distribution of obstacles.