A real-time Clearance-Based approach for motion planning of mobile robots

In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called clearance-based probabilistic roadmap method (CBPRM^(c)), is proposed which in contrast to VV^(c) method, visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM^(c) to be applicable in dynamic environments which require real-time approaches. Experiments showed that the CBPRM^(c) is able to generate paths with very low execution time considering determined clearance.