The robot path planning problem is a very challenging problem in robotics.

The main goal of this problem is to construct a collision-free path from a starting position

to an end or destination position. However, this navigation problem includes several

difficult phases that need to be overcome, such as obstacle avoidance, position

identification, and so forth. As Ibrahim [17] pointed out, this problem can be broken in to

several subtasks. A reliable navigation algorithm must be able to 1) Identify the current

location of the robot, 2) Avoid any collisions, 3) Determine a path to the object.