Survival probability map based path planning of mobile robots

In this paper, we will create a suitable map for a given environment and plan a path to the target as in a engagement situation to find the optimal path, rather than finding the shortest path. Basically, the map is based on grid map and given Environmental information of engagement situation is described as probability based survivability map and visibility map. Introduced the concept of survival of our robot in the Survivability map and the Visibility map introduces a concept of sight of enemy robots. After combining the cost of A * algorithm's path and the cost of Survivability map and Visibility map, then the optimal path can be find from the engagement situation.