Title :
Dynamic path planning in sensor-based terrain acquisition
Author :
Lumelsky, Vlaadimir J. ; Mukhopadhyay, Snehasis ; Sun, Kang
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
fDate :
8/1/1990 12:00:00 AM
Abstract :
The terrain acquisition problem is formulated as that of continuous motion planning, and no constraints are imposed on obstacle geometry. Two algorithms are described for acquiring planar terrains with obstacles of arbitrary shape. Estimates of the algorithm performance are derived as upper bounds on the lengths of generated paths
Keywords :
artificial intelligence; mobile robots; navigation; artificial intelligence; continuous motion planning; dynamic path planning; mobile robots; navigation; obstacle geometry; sensor-based terrain acquisition; upper bounds; Layout; Motion planning; Navigation; Path planning; Robot kinematics; Robot motion; Robot sensing systems; Robot vision systems; Robotics and automation; Shape;
Journal_Title :
Robotics and Automation, IEEE Transactions on
