Path Planning
TLDR: Path planning refers to the computational process of determining a feasible route or trajectory for a robot to follow while navigating an environment. It is a critical component of robotics and automation, enabling robots to perform tasks such as navigation, obstacle avoidance, and interaction with objects.
The concept of path planning was formalized in the 1960s, coinciding with the development of Shakey the Robot by SRI International. Shakey introduced reasoning and planning capabilities, including rudimentary path planning algorithms, establishing foundational principles for autonomous navigation.
Path planning algorithms can be categorized into two main types: global and local. Global planning uses a pre-defined map to determine the optimal route from the starting point to the destination, while local planning involves real-time adjustments based on sensor data to handle dynamic obstacles. Algorithms like A*, introduced in 1968 by Peter Hart, Nils Nilsson, and Bertram Raphael, remain widely used for global path planning due to their reliability in finding the shortest path.
Applications of path planning span multiple domains, including autonomous robots, mobile robots, and industrial automation. For instance, warehouse robots use path planning to navigate between shelves, while aerial robots rely on these algorithms for safe flight paths. In healthcare, surgical robots use path planning to ensure precise tool movements during procedures.
Developing path planning systems involves integrating sensory input, environmental mapping, and motion control. Tools like ROS (Robot Operating System) and simulation platforms such as Gazebo assist engineers in designing and testing path planning algorithms in virtual environments before real-world implementation.
As robotics technology continues to advance, path planning remains a cornerstone of robotic systems. With improvements in computation and sensing, these algorithms are expected to support increasingly complex and dynamic tasks across a variety of applications, ensuring reliable and safe navigation.
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