  A new path planning method for Mobile Robots (MR) has been developed and
implemented. On the one hand, based on the shortest path from the start point
to the goal point, this path planner can choose the best moving directions of
the MR, which helps to reach the target point as soon as possible. On the other
hand, with an intelligent obstacle avoidance, our method can find the target
point with the near-shortest path length while avoiding some infinite loop
traps of several obstacles in unknown environments. The combination of two
approaches helps the MR to reach the target point with a very reliable
algorithm. Moreover, by continuous updates of the on-board sensors information,
this approach can generate the MRs trajectory both in static and dynamic
environments. A large number of simulations in some similar studies
environments demonstrate the power of the proposed path planning algorithm.
