A visible midpoint approach for point robot path planning in cluttered environment

Obstacle avoidance and navigational plan from start to goal among a cluttered environment is a complex problem for a robot. This paper presents the combination of midpoint approach with visible criteria for robot navigation in the configuration space of robot where the obstacles are in static by nature. The midpoints are calculated in such a fashion so that each tunnel starts with at least one or more midpoint created in the environment. The proposed method follows visible criteria to connect the midpoints in the environment. This method provides the possible paths from source to destination. After formation of all the paths, Dijkstra´s shortest path method is used for determining of actual shortest path.