A set theoretic approach to path planning for mobile robots

This paper addresses the path planning problem for mobile robots in a set theoretic framework. Under the assumption of unknown but bounded disturbances, a procedure for computing minimum average uncertainty paths is proposed. The considered scenario is that of a holonomic mobile robot moving in an environment where landmarks can be identified. Practical issues, such as limited visibility of landmarks and obstacle avoidance, are addressed. The proposed technique is validated via numerical simulations.