- Purpose and Importance: Path Planning enables autonomous robots to navigate environments, crucial for applications like delivery drones, robotic arms and autonomous vehicules.
-
Definition: Path planning is the process of finding a viable path from a start point to an endpoint while avoiding obstacles.
-
Challenges: Dynamic environments, obstacle avoidance, efficiency, computational constraints.
-
Common Algorithms:
- A Algorithm: Combines cost to reach a node and estimated cost to the goal.
- Dijkstra's Algorithm: Uniform cost search, suitable for grid-based maps.
- RRT (rapidly-exploring Random Trees): Efficient in high-dimensional spaces.
- Path Cost Calculation:
- g(n) = cost from start to n
- h(n) = heuristic estimate from n to goal
- f(n) = g(n) + h(n)