No abstract

Abstract. The process of taking decisions in an autonomous system has a strong dependence on the information received from the environment in which it works. The path planning process for a mobile robot is a subset of the problems that have to be solved in an automatic system of decisions, where the appropriateness of the method is roughly constrained not only by the achievement of a well-suited information from the environment, but also by how this information is acquired. The main objective of this work is to describe a robust model for robotic path planning in unknown environments. The proposed general model is based on obtaining secure paths where the robot will be able to move so as to complete its task. Thus, from an unknown location, the required information is collected by employing a mobile robot that moves freely through a real world with some generic behaviors that let the robot explore the world.