Abstract
In this paper, we propose a method of a path-planning for a mobile robot. The method uses a grid map to define any shape of obstacles and considers shape of mobile robot. The shortest path can be generated by searching the grid map. This method consists of two steps to expand obstacles, and can provide practical and suitable path-planning for a control of a mobile robot. Moreover, the path-planning can set arbitrary start posture and end one. The effectiveness of this method is shown by simulation.
