This paper discusses the techniques and their applications in the development of a path planning system composed of three modules, namely: global vision (GVM), trajectory planning (TPM) and navigation control (NCM). The GVM captures and processes the workspace image to identify the obstacle and the robot configurations. These configurations are used by the TPM to generate the Voronoi roadmap, to compute the maximal clearance shortest feasible path and the visibility pathway between two configurations. The NCM controls the robot functionalities and navigation. To validate the path planning system, three sets of experiments have been conducted using the Lab robot Khepera, which have shown very good results.
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