Path planning control in known environments using turning points

The path planning problem for a wheeled mobile robot (WMR) involves determining a collision-free path from a starting point to a target destination while optimizing a specific fitness function, such as minimizing distance, cost, or both, depending on the scenario. This research introduces a novel method for generating smooth paths for mobile robots in user-defined two-dimensional environments with stationary obstacles. The proposed method addresses the issue of local minima by utilizing free segments and path-planning turning points. The approach evaluates both path length and path safety as key objectives. Simulation results demonstrate that the proposed method effectively identifies optimal paths and validates the reliability of the control strategy for mobile robot navigation.