Methodology for Path Planning and Optimization of Mobile Robots: A Review

Mobile robotics research is an emerging area since last three decades. The present research on mobile robotics addresses the problems which are mainly on path planning algorithm and optimization in static as well as dynamic environments. A detailed review has been made in the broad field of mobile robotic research especially focussing on the path planning strategy in various cluttered environments, their advantages and disadvantages of each of these strategies/methods have been highlighted. The path planning strategy of mobile robots can be categorised as Classical Methods and Heuristic Methods. Further subcategorized as (i) Analytical Methods, (ii) Enumerative Methods, (iii) Evolutionary Methods and (iv) Meta-Heuristic Methods. Each of these aforesaid methods has its own advantages and disadvantages. However, the main weakness arises from the fact that, analytical methods are too complex for intangible applications, whereas the enumerative methods are anxious by the extent of the search space. On the other hand, when search space is too large in path planning strategy, many evolutionary methods have been shown to be ineffective. To overcome these drawbacks, meta-heuristic methods have been fascinating considerably in this broad field of research. Many techniques are developed in path planning for mobile robot worldwide, however, the most commonly used techniques are presented here for further study. (C) 2018 The Authors. Published by Elsevier Ltd.