This paper describes the theory and the algorithm of a fast path planning of an autonomous mobile robot available for moving obstacle avoidance as well as stationary obstacle avoidance using artificial pressure and nonlinear friction. Artificial pressure is just a conceptual idea and a mimicry of the real physical pressure. Local minima problem can be solved by introducing a nonlinear friction, which is a function of the velocity of mobile robot and time to serve as an additional degree of freedom for the equation of path-planner. In some parameter region, the equation of path-planner reveals chaotic dynamics in a similar way of double well potential. This new path-planner is feasible to guide on real-time a mobile robot avoiding stationary and moving obstacles and reaching the goal. Computer simulation is presented to show the effectiveness of the proposed algorithm.
