An Optimal Path Planning Proposal for Motion Robots with Specific Constraints Applicable in Biomedical Engineering

Abstract

Optimal path planning for motion robots is an interesting research subject with many applications in various domains including biomedical applications when a mobile robot can distribute medication for patients. A fuzzy environment with object approximated by ellipses is a common situation in terrain applications when a mobile robot must find an optimal route. In some situations, e.g. biomedical applications, some additional constraint related to medical instrumentation impose to find some pathway where a mobile robot must be at an equal distance between the objects in order to have a good balance between possible electrical influences or specific requirements. The results show a feasible solution that can be implemented for predefined routes which must go among a marked set of objects, left and right parts of the mobile robot.