Autonomous mobile robot motion planning enhanced with extended configuration-space and half-planes

It is commonly argued that C-space buffering is too computationally expensive, consumes too much free space, keeps the robot too close to objects, seals off marginally traversable regions and does not allow for curved path segments. However, the research described in this paper uses half-planes and doors to extend C-space so that mobile robot global motion planning is not only safe and fluid, but also unhindered by tight passageways. Further, it is shown that free space consumption is limited to only what the robot needs to circumnavigate known obstacles