Multi-goal path planning algorithm for mobile robots in grid space

In accordance with the problem which ingle target path planning is difficult to simulate the complex real world, this paper presents a new multi-goal path planning method based on grid map for planetary exploration, which designs and realizes the corresponding branch-detected algorithm and heuristic algorithm to solve the local optimal path planning and TSP, eventually reach the target state. The theoretical proof and simulation results show that this algorithm can successfully solve path planning with multi-goal and with a good performance at the same time.