Mobile robots path planning with clustering

The problem of collision-free path planning is central to mobile robot applications, and it shows great complexity in the non-stationary environment. It's still a tough problem that mobile robots would easily run into the situation of planning for the current path while neglecting the global goal. To solve this problem, an approach to path planning based on a clustering is presented, and it combines the methods of both local collision-free path planning and global path intelligent search. The proposed approach makes use of Maximum-Minimum Distance clustering rule, and it wonderfully settles the conflict of local and global optimal path search. The simulation results prove the effectiveness of the proposed method.