DocumentCode
1094143
Title
Path planning for a mobile robot
Author
Alexopoulos, Christos
Author_Institution
Sch. of Ind. & Syst. Eng., Georgia Inst. of Technol., Atlanta, GA
Volume
22
Issue
2
fYear
1992
Firstpage
318
Lastpage
322
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;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/21.148404
Filename
148404
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