Fast algorithm of planning a robot's path in 2-dimensional space on the basis of triangulation

Abstract

This article describes an approach to solution of a problem of planning a mobile robot's path in 2-dimentional space with obstacles. It gives the problem statement, which implies that there is no prior information about surrounding environment. It is supposed that the robot gathers real-time information via on-board sensors. The article also presents a theoretical analysis of such approach performance, along with comparison of the proposed approach to the existing ones, and demonstration of the suggested one's advantages. The simulation experiment results fully proving the theoretical thesis are also represented.