A Cost-Aware Path Planning Algorithm for Mobile Robots

In this paper, we propose a cost-aware path planning algorithm for mobile robots. As a robot moves from one location to another, the robot is penalized by the cost at its current location. The overall cost of the robot is determined by the trajectory of the robot over the cost map. The goal of the proposed cost-aware path planning algorithm is to find the trajectory with the minimal cost. The cost map of a field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware path planning algorithm extends the rapidly-exploring random tree (RRT) algorithm by applying the cross entropy (CE) method for extending motion segments. We show that the proposed algorithm finds a path which is close to the near-optimal cost path and gives an outstanding performance compared to RRT and CE-based path planning methods through extensive simulation.