Extended Method for Path Planning Using Auxiliary Corners

This paper presents an extended path planning method for obstacle avoidance for mobile robots using auxiliary positions. The desired path connects a given start position to a target position under avoidance of static obstacles. The corners of the rectangles that cover the obstacles serve as the auxiliary positions. The extended path planning uses the bounding rectangle with minimal area as a basis of simple bounding rectangle. Thus the accessible action area which is available for the path planning becomes larger and the path planning can be done more flexibly. The results of this method will also be discussed using MATLAB simulations and an implementation as part of the development of a system for fully automated storekeeping.