Generating a collision-free path for a biped walking machine/robot in an obstacle clustered environment is a challenging task. To overcome this difficulty, researchers around the world have implemented several collision-free path planning algorithms. It is significant to note that an efficient path-planning methodology helps the biped robot to achieve a collision-free path and minimize the distance of path travelled. In the current investigation, the authors have proposed a new path planning procedure, the Fast Sweeping Method (FSM), to obtain an optimal path for the biped robot in a static environment. In the present investigation, the authors have tested it in both simulations as well as on an actual biped robot in a static domain to check the effectiveness of the developed procedure. Further, the results of the current algorithm are compared with two established path planning algorithms, Fast Marching Method (FMM) and A-star algorithms. In the end, it has been observed that the proposed algorithm obtains the best collision-free optimal path when compared with the FMM and A-star algorithms.
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