Numerical object rings path planning algorithm

A numerical object rings path planning algorithm (NORPPA) is a heuristic search approach to path finding for autonomous robotic systems. It uses a heuristic search technique. It uses intelligent schemes to reduce the search space (to prune the logic tree). There is no guarantee that a unique solution will be reached, only that a correct one will be found with an execution time that does not exponentially increase with path complexity. The NORRPA includes means-end-analysis and hill climbing techniques. It consists of a number of specific task oriented algorithms coordinated by an execution sequencer (ES) which interfaces with other functions of the robotic system. There are 3 stages: the primary path (a first draft), the refined path, and the travelable path (a portion of the refined path that falls into the local sensing region of the robot). The average path finding execution time is about 11.5 seconds using a 486 personal computer at 33 MHZ clock speed