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Path Planning for Mobile Robots

In this project, different methods for path planning and obstacle avoidance of mobile robots is studied. Using these algorithms, a feasible path between start and goal points is determined in such a way that no collision between robot and obstacles occurs. 


Studied algorithms are as follow:


Known Environments : 

       1) Roadmap, 2) Cell Decomposition, 3) Artificial Potential Fields, 4) Optimization Based Algorithms


Unknown Environments: 

     1) Virtual Force Field (VFF), 2) Vector Field Histogram (VFH), VFH+, VFH*, 3) Curvature Velocity Method, 4) Dynamic Window, 5) Extended Dynamic Window, 6) Elastic Band, 7) Nearness Diagram (ND)