On Skeleton Extraction Algorithm for Path Planning of Mobile Robots in Complex Planar Maps

For path planning in complex maps, this paper proposes skeleton extraction algorithm to realize initial path generation in two-dimensional space. Skeleton extraction algorithm can reduce the dimension of two-dimension maps, and transform it to one-dimension feasible path map by extracting skeleton of planar map. As long as a path connecting starting point and target point is found based on the skeleton, path planning and optimization can be achieved in complex map. Therefore, skeleton extraction can be applied to path planning of mobile robots in complex planar map. The skeleton extraction algorithm is simulated and its efficiency is validated in simulation condition.