NATURAL DECOMPOSITION OF FREE SPACE FOR PATH PLANNING

When creating a mobile robot one of the central problems is the automatic route planning. This problem is that, when given the initial and final positions of the robot on the map area to build the route by which the robot can get to the destination point, not when faced with obstacles. There are two approaches to solving this problem. In one of them uses the concept of the configuration space, the idea of which is to pull the object (robot) to the point at the same time extending the obstacles in accordance with its shape. The shortest route is searched by viewing a graph ?line of sight?, in which all segments of straight path, bypassing the obstacles in the configuration space. The main disadvantage of this approach is the difficulty encountered when turning the robot, and, in addition, the shortest route is very close to obstacles.