Application of adapted weighted graphs for solving the problem of flat trajectory planning by potential fields method

The problem of a mobile robot path planning is considered. The features of potential fields method are given, allowing to build a near optimal trajectory of movement in an environment with obstacles. The working environment of a mobile robot is described by a weighted graph. The construction of a cartesian graph and its vertex modification for a given weighted graph is described. Their application is extended to a weighted graph. The potential attracting field is modeled on the vertex modification of the cartesian graph corresponding to the original weighted graph. An algorithm for weights adjustment in the vertex modification of weighted graph is developed to create attractive effect in the model of robot working area. An algorithm for finding a locally optimal path on an adapted weighted graph, developed on the basis of the potential fields method, is presented.