Path planning of mobile robot in semi-regular dynamic environment based on circuit map

In this paper, a path-planning algorithm of mobile robot based on ciucuit map is applied in semi-regular dynamic environment. The analogue between real physical space and grid circuit is firstly analysed. The fact that current flows along the branch with lower resistance is similar to the aim of path planning for short and broad path with light moving obstacles. The flexible setting of the resistance in each branch of the ciucuit map reflects both the dynamic property and the static property in the environment effectively. Thus it can search out a optima path in the semi-regular dynamic environment. The path planning approach proposed in this paper solves the problem of low efficiency in avoiding the moving obstacles or traffic jams.