A new path planning algorithm for moving a point object amidst unknown obstacles in a plane

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Abstract
A nonheuristic path planning for moving a point object, or mobile automation (MA), in a two-dimensional plane, amidst unknown obstacles, is considered. A path is to be generated, point by point, using only the local information, like the MA's current position and whether it is in contact with an obstacle. A path-planning algorithm to solve this problem is proposed. The algorithm is used to realize the smallest worst-case path length possible in its category. The procedure for the algorithm is presented with explanations. Its various characteristics, such as local cycle creation, worst-case path length, target reachability conditions, etc. are dealt with. Its performance is compared with that of the existing algorithms. Examples showing the operation of the algorithm are presented.