Efficient method to generate collision free paths for an autonomous mobile robot based on new free space structuring approach

A technique is developed based on free link concept to construct the available free space between obstacles within robot´s environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. A collision free path can be efficiently generated using the MAKLINK graph. The complexity of the search for a collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path