Development of an Efficient Path Planning Algorithm for Indoor Navigation

In the present work, a path planning generation method is proposed, it is based on the learning and query phases of the original probabilistic roadmap (PRM) method, but a more efficient approach is presented, also an additional simplification and optimization phases are added to minimize the length of the resulting trajectory. The proposed method produces safe paths for navigation in a known static map without increasing execution time. The proposed method is compared to the existing implementation of the PRM method, available in Matlab. Finally a simple kinematic controller is presented to show realistic simulations of the trajectory realization, for this test real maps are used, which are obtained by means of the SLAM algorithm.