Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm

<table class="fixed-width table-group" id="tab4"><tr><td><table class="table"><colgroup><col style="width:5.48em"/><col style="width:3.12em"/><col style="width:3.10em"/></colgroup><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacles</td><td class="align_center">  <svg height="9.25202pt" id="M121" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 22.4047 9.25202" width="22.4047pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z" id="g113-121"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M750 359C750 550 603 667 427 667C199 667 24 499 24 287C24 100 166 -17 344 -17C573 -17 750 136 750 359ZM645 356C645 196 538 24 350 24C205 24 127 136 127 285C127 471 247 626 422 626C571 626 645 521 645 356Z" id="g50-80"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.91,3.132)"><path d="M460 334C460 396 434 451 378 451C330 451 241 408 148 300H146L237 679C241 697 241 710 232 710C213 710 153 684 67 675L66 646H95C141 646 145 642 134 595L39 170C23 97 31 54 46 33C64 8 100 -12 137 -12C178 -12 234 3 298 43C391 101 460 222 460 334ZM371 320C371 204 316 89 248 51C230 41 208 37 192 37C143 37 102 72 119 166C124 194 129 215 135 235C202 323 298 392 335 392C353 392 371 372 371 320Z" id="g50-99"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.262,3.132)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path></g></svg></td><td class="align_center">  <svg height="9.39034pt" id="M122" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 22.1438 9.39034" width="22.1438pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z" id="g113-122"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.942,3.132)"><path d="M750 359C750 550 603 667 427 667C199 667 24 499 24 287C24 100 166 -17 344 -17C573 -17 750 136 750 359ZM645 356C645 196 538 24 350 24C205 24 127 136 127 285C127 471 247 626 422 626C571 626 645 521 645 356Z" id="g50-80"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.65,3.132)"><path d="M460 334C460 396 434 451 378 451C330 451 241 408 148 300H146L237 679C241 697 241 710 232 710C213 710 153 684 67 675L66 646H95C141 646 145 642 134 595L39 170C23 97 31 54 46 33C64 8 100 -12 137 -12C178 -12 234 3 298 43C391 101 460 222 460 334ZM371 320C371 204 316 89 248 51C230 41 208 37 192 37C143 37 102 72 119 166C124 194 129 215 135 235C202 323 298 392 335 392C353 392 371 372 371 320Z" id="g50-99"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.002,3.132)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path></g></svg></td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 1</td><td class="align_center"> 550</td><td class="align_center"> 230</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 2</td><td class="align_center"> 630</td><td class="align_center"> 450</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 3</td><td class="align_center"> 540</td><td class="align_center"> 500</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 4</td><td class="align_center"> 400</td><td class="align_center"> 500</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 5</td><td class="align_center"> 70</td><td class="align_center"> 680</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 6</td><td class="align_center"> 160</td><td class="align_center"> 400</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Obstacle 7</td><td class="align_center"> 150</td><td class="align_center"> 130</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Center coordinates of obstacles ((<span class="nowrap"><svg height="9.25202pt" id="M119" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 10.9963 9.25202" width="10.9963pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z" id="g113-121"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path></g></svg>,</span> <svg height="9.39034pt" id="M120" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 10.7353 9.39034" width="10.7353pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z" id="g113-122"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.942,3.132)"><path d="M329 433H203L239 587L230 596L147 534L123 433H57L30 395L34 388H115L61 129C37 16 59 -12 85 -12C147 -12 222 58 260 98L241 125C212 95 160 62 144 62C132 62 127 71 138 126L192 386L305 394L329 433Z" id="g50-117"></path></g></svg>)=(750, 750)).</div>

Mathematical Problems in Engineering

tab4

Table 4

Table 4: Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm 