摘要：This paper investigates four methods for finding shortest path between source and destination in a specific environment. For the known gradient method, we have propped a way to reduce the computational complexity of gradient field. Besides, the proposed method attempts to find the optimal path starting from a suboptimal path with the lowest computations. The considered robot is a mobile robot with three freedom degrees in two-dimensional environment. This will cause the isolation of the angle of trajectory path. The result of the simulations of the methods shows that the new approach provides an appropriate method for mobile robot routing in comparison to other methods.
关键词：Path planning in image space;mobile robot;computational complexity
