Arrival time field based path planning algorithm for mobile robot

Worldwide, the use of mobile robot has been growing rapidly. In aerospace, for instance, mobile robot have become ubiquitous in both military and civilian applications. Today, for example, unmanned air vehicles must execute military reconnaissance and strike operations, border patrol missions, forest fire detection, police surveillance, and recovery operations. In this research, an arrival time field based path planning algorithm is addressed. We used arrival time field to generate bias which gives larger weights for shorter and safer paths toward a goal. The path will be extracted by backtracking the nodes that reach the goal, and the motion from the very first node will be sent to the robot controller.