Method and system for path planning

A system (100) comprising:

• a computing device, wherein the computing device comprising:
• at least one memory storing programmed instructions;
• one or more hardware processors operatively coupled to the at least one memory, wherein the one or more hardware processors are configured by the programmed instructions to:
• receive, by the one or more hardware processors , data pertaining to an environment from an imaging device, wherein the environment comprises a plurality of obstacles;
• identify, by the one or more hardware processors, a set of seeds based on the plurality of obstacles by utilizing a random seed generation technique, wherein identifying the set of seeds by utilizing the random walk based seed generation technique comprises steps of:
• generating a random point inside each obstacle from the plurality of obstacles;
• performing a random walk by each random point towards a surface of each obstacle;
• identifying the random point as a seed point when the random point walks outside the obstacle, to obtain a plurality of seed points;
• and
• selecting a set of seed points from the plurality of seed points based on an a predefined threshold;
• construct, by the one or more hardware processors, a contiguous polytope based on a convex region expanding technique by utilizing the set of seeds;
• identify, by the one or more hardware processors, a set of nodes of an undirected graph from the contiguous polytope, wherein the set of nodes are a plurality of polytope points associated with the contiguous polytope;
• and
• compute, by the one or more hardware processors, a shortest path in the undirected graph based on a distance between each pair of nodes of the undirected graph.

One or more non-transitory machine readable information storage mediums comprising one or more instructions which when executed by one or more hardware processors causes:

• receiving, by a one or more hardware processors, data pertaining to an environment from an imaging device, wherein the environment comprises a plurality of obstacles;
• identifying, by the one or more hardware processors, a set of seeds based on the plurality of obstacles by utilizing a random walk based seed generation technique, wherein identifying the set of seeds by utilizing the random walk based seed generation technique comprises steps of:
• generating a random point inside each obstacle from the plurality of obstacles;
• performing a random walk by each random point towards a surface of each obstacle;
• identifying the random point as a seed point when the random point walks outside the obstacle, to obtain a plurality of seed points;
• and
• selecting a set of seed points from the plurality of seed points based on an a predefined threshold;
• constructing, by the one or more hardware processors, a contiguous polytope based on a convex region expanding technique by utilizing the set of seeds;
• identifying, by the one or more hardware processors, a set of nodes of an undirected graph from the contiguous polytope, wherein the set of nodes are a plurality of polytope points associated with the contiguous polytope;
• and
• computing, by the one or more hardware processors, a shortest path in the undirected graph based on a distance between each pair of nodes of the undirected graph.