A Review on Local Minimum and Multiple Minimum Avoidance Techniques in Local Path Planning

Abstract

In the local path planning navigation, a particular focus is given to local minimum problem. This problem occurs when a robot manoeuvre towards a desired target with no initial information of the environment and gets trapped in an infinite loop or also known as a dead end trap. Besides the local minimum situation, there are even worse situation in which when a mobile robot encounters two or more dead ends in a row. This situation is known as “multiple minimum” situation. The situation is forming more complicated problem than the local minimum situation. In this paper, a complete review is given on the local minimum and multiple minimum problems and the available solutions for these situations are discussed in detail.