Title :
Path planning for a mobile robot
Author :
Alexopoulos, Christos
Author_Institution :
Sch. of Ind. & Syst. Eng., Georgia Inst. of Technol., Atlanta, GA
Abstract :
Two problems for path planning of a mobile robot are considered. The first problem is to find a shortest-time, collision-free path for the robot in the presence of stationary obstacles in two dimensions. The second problem is to determine a collision-free path (greedy in time) for a mobile robot in an environment of moving obstacles. The environment is modeled in space-time and the collision-free path is found by a variation of the A* algorithm
Keywords :
mobile robots; navigation; planning (artificial intelligence); A* algorithm; collision-free path; mobile robot; moving obstacles; path planning; space-time; stationary obstacles; Acceleration; Joining processes; Mobile robots; Motion planning; Orbital robotics; Path planning; Polynomials; Space technology; Systems engineering and theory;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
