A complex path planning model based on localization´s error for mobile robots

The main subject of this paper is to develop a complex path planning process (algorithm) which starts at the positioning accuracy of the marker-based navigating systems, and in a priori known environment determines the navigation area (NA) of the environment, and then based on directed graphs builds up the so-called graph-map. After, the algorithm, according to specified optimization conditions, searches for the optimized trajectory between the given start (S) and goal (G) positions on the above-mentioned graph-map, then constructs the final trajectory on the chosen graph-like path, in form of a B-spline curve.