| Autonomous robots which work without human | | | | decomposed into path planning and trajectory planning. |
| operators are required in robotic fields. In order to | | | | Path planning is to generate a collision free path in an |
| achieve tasks, autonomous robots have to be | | | | environment with obstacles and optimize it with |
| intelligent and should decide their own action. When the | | | | respect to some criterion. Trajectory planning is to |
| autonomous robot decides its action, it is necessary to | | | | schedule the movement of a mobile robot along the |
| plan optimally depending on their tasks. More, it is | | | | planned path. |
| necessary to plan a collision free path minimizing a | | | | If the environment is a known static terrain and it |
| cost such as time, energy and distance. When an | | | | generates a path in advance it said to be off-line |
| autonomous robot moves from a point to a target | | | | algorithm. It is said to be on-line if it is capable of |
| point in its given environment, it is necessary to plan an | | | | producing a new path in response to environmental |
| optimal or feasible path avoiding obstacles in its way | | | | changes. |
| and answer to some criterion of autonomy | | | | A robotic system capable of some degree of |
| requirements such as: thermal, energy, time, and | | | | self-sufficiency is the overall objective of an |
| safety. Therefore, the major main work for path | | | | autonomous mobile robot and are required many fields. |
| planning for autonomous mobile robot is to search a | | | | The focus is on the ability to move and on being |
| collision free path. | | | | self-sufficient while trying to imitate the biology. Indeed |
| Motion planning is one of the important tasks in | | | | biological models are of major interest since living |
| intelligent control of autonomous mobile robot. It is often | | | | systems are prototypes of autonomous behaviors. |