Optimized Heuristic Based Path Planning within a Complex Environment

Abstract

The aim of the project has been to develop a path mapping algorithm suitable for future implementation into the Seekur Jr, a versatile robotics platform produced by Adept Mobile Robots. The path mapping algorithm is designed with the Seekur Jr’s intended operating environment and use case scenarios considered, namely, a hostile environment populated with enemy assets and varying terrain. To produce this path mapping algorithm the suitability and performance of several existing path mapping schemes were compared and in doing so, another more suitable solution was designed. The developed path mapping algorithm was enhanced with the addition of variable travel costs and an enemy line-of-sight algorithm based on an enemy asset’s effective range. These capabilities allow the planned path to give movement preference to areas that are outside the enemy’s line of sight/effective range and where environmental effects are minimized to allow for the quickest and safest real-time traversal. To test these capabilities, environmental changes were simulated and applied to the map representation provided to the path mapping algorithm. This paper contains important path mapping theory, development considerations, results of the initial path mapping comparison, testing procedures and an outline of potential future development of the path mapping capability for the Seekur Jr.