Authors - Tegawende Brigitte KIENTEGA, Sadouanouan MALO Abstract - Navigation of mobile robots using GPS is widely available but use of GPS is sometimes either costly, not suitable for security reason, not available in indoor environments, or underground operational fields. This work provides a greedy method of path planning for a mobile robot from a starting point to the given destination point in a GPS-denied field where a set of access points (AP) are deployed randomly. Using these APs, the robot is able to calculate its current position at any moment as well as it chooses the next position to move further towards the destination. An efficient algorithm is designed to guide the robot to reach to its destination successfully taking into account that all the holes are convex, if exists within the field of interest. An analysis of the deployment strategy of the APs is provided in order to guarantee the successful path planning by the robot without backtracking any sub path.
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