In this paper we are proposing an approach to find obstacle size to reduce the searching area for path planning for mobile robot. With this approach, the vehicle is able to reduce searching area compare to other algorithms. This is main problem normally all the algorithms were concentrate how to optimal path but without reducing searching area it's not possible .The approach we use in our model consists of various kinds of obstacles such as motor cycles, pedestrians, animals, etc. The presence

more »

... f and the appropriate path is planned according to the dimensions of the obstacle as different obstacles have different dimensions.