Global path planning for autonomous robots using modified visibility-graph

This paper attempts to propose an efficient algorithm for global optimized path planning for autonomous robotics system, particularly land-based mobile robot. The presented approach relies on a modified visibility-graph, a classic roadmap of combinatorial planning in computer geometry which is able to retain the complete-feature as well as to reduce computation time, especially in the situation of numerous obstacles existed in practical environment. The developed technique outperforms the original visibility-graph, which is demonstrated through extensive experimental results.