Path planning method for mobile robots

A path planning method for mobile robots, wherein the method comprises the following steps:

• (1) searching for available paths according to the destinations of moving of the robots and the nodes properties on a map;
• (2) determining the optimum path, according to the weights of the segments on all the available paths, with the segments being arbitrary curves made up of Bezier curves or splined curves of a plurality of control points;
• and
• (3) driving the robots to move along the optimum path, and to stop at the stop points,
• wherein in step (1), the node properties comprise rotatable properties and unrotatable properties, the mobile robots are configured to rotate in situ at the nodes with the rotatable properties, thereby switching the segments and searching for available paths, wherein at a node, if the angle of the adjacent segments exceed a certain degree (configurable), and if no properties that permit rotating are configured at the node, the segments are not connectable, and the segments will not be connected in path searching, and alternatively, if properties that permit rotating are configured at the node, the segments are connected, and the mobile robot will switch the segments in a way of rotating in situ while the mobile robot moves to that node.