Path planning methods for mobile robots with linear programming

In this paper, the path planning method with two different obstacle avoiding models are proposed to solve the target pursuit and obstacle avoid problem (TPOA). Both of the models are originated from linear programming (LP). One model introduced integer variable to describe the relative position of robot and obstacles, then MILP based obstacle-avoided model is built; the other used a tangent line to define the feasible and infeasible region of robot in obstacle area, thus LP based obstacle-avoided constraints are given. Simulations are demonstrated comparatively to show the effectiveness of the proposed methods.