A Mathematical Method for Obstacle-Avoidance and Path-Planning of Robotics

In this paper, a new method which is based on mathematics is proposed for the obstacle-avoidance and path-planning (OAPP) of robotics in unknown environment. The robot just knows the start point and the goal point. The robot is represented by a circle(not a point) whose radius is one. After being sensed, the obstacles are represented by some mathematic functions and when avoiding the obstacles, the robot path will be generated autonomously. Along this path, the robot can get the goal point at last. The simulation results show that the proposed method works very well.