Abstract:

The main idea of this paper is to establish a series of interactive examples for learning different path planning methods in the teaching for mobile robots. For this purpose, different planning algorithms have been developed with which it is possible to see their development in different planes previously decomposed into cells. In addition to this, a map generator has been created, where the user can not only see how these algorithms work in the previously created plans but can also develop one by themselves.

For a better understanding of the development of the project, a real-time visualizer of the execution of the algorithm has been created, showing how each of the different steps of each of the algorithms is being generated. To make it much simpler, a graphical interface has been created to show the different options that the user can work with and the different configurations that can be created. To that purpose we are going to add some practical examples.

We have chosen to use only cells as a decomposition method because it is a very simple and easy to represent method, which allows users to perfectly understand the limits of the environment, the obstacles and the free spaces where the robot can move.

All the generated algorithms are complete, so if there is a possible path, they will find it, and if there is no path, they will indicate that it is not possible to find it.
The project is oriented towards university education and robotics, as it explains algorithms oriented towards the planning of mobile robots in 2 dimensions.

Keywords:

Path planning, Mobile Robots, Teaching, Graphical users interface.