Performance Analysis of Probabilistic Roadmaps in Simulation for Mobile Robot Path Planning

Abstract

Many challenges, including path-planning for a mobile robot, revolve around finding the lowest-cost path through a graph. A quick path-planning algorithm for a mobile robot in a dynamic environment is proposed by integrating Dijkstra's algorithm. Dijkstra's method and Probabilistic Roadmaps are used to determine an initial path from the starting point to the goal. This method searches for an optimal path from the robot's current location to this local target, and as the number of nodes increases, a new path that brings the robot from the current place to the goal is obtained. Meanwhile, the re-planning time is substantially reduced. The simulation results validate the suggested algorithm's feasibility and effectiveness.