An algorithm for maze searching with azimuth input

The performance of systems for sensor-based robot motion planning is known to depend heavily on the basic search algorithms used. Typically, these are provable graph search schemes modified into maze search algorithms by taking into account the topology of the physical objects in the workspace-for example, the fact that the boundary of a 2-dimensional object is a simple closed curve. Although several maze search algorithms are already available, more are needed to improve the performance and fill gaps in required properties. This work presents a new algorithm that possesses properties not covered so far, and then assesses its performance. The algorithm allows one to use directional input information (such as azimuth angles) rather than the usual Cartesian coordinates; it also allows the robot to “cut corners” on its way to the target, thus shortening the path