• DocumentCode
    2538370
  • Title

    Navigation algorithm for a nested hierarchical system of robot path planning among polyhedral obstacles

  • Author

    Montgomery, M. ; Gaw, D. ; Meystel, A.

  • Author_Institution
    Drexel University, Philadelphia, PA
  • Volume
    4
  • fYear
    1987
  • fDate
    31837
  • Firstpage
    1616
  • Lastpage
    1622
  • Abstract
    An algorithm NAVIGATOR for robot path planning in a 2D world with polygonal obstacles is presented. The method employs A* search in a subset of the visibility graph of obstacle vertices. A procedure is given for finding this subset of the visibility graph without computing line intersections. The NAVIGATOR module is part of a complete hierarchical system for control and world representation for a robot which operates in an unkown and unstructured environment.
  • Keywords
    Cognitive robotics; Control systems; Hierarchical systems; Mobile robots; Navigation; Path planning; Robot control; Robot sensing systems; Trajectory; Vocabulary;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1987 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1987.1087801
  • Filename
    1087801
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2538370