Path planning among moving obstacles using spatial indexing

Author

FujiMura, Kikuo ; Samet, Hanan

Author_Institution

Dept. of Comput. Sci., Maryland Univ., College Park, MD, USA

fYear

1988

fDate

24-29 Apr 1988

Firstpage

1662

Abstract

A method is presented for planning a path in the presence of moving obstacles. Given a set of polygonal moving obstacles, a path is generated for a mobile robot that navigates in the two-dimensional plane. Time is included as one of the dimensions of the model world. This allows the moving obstacles to be regarded as stationary in the extended world. For a solution to be feasible, the robot must not collide with any other moving obstacles and must navigate within the predetermined range of velocity, acceleration, and centrifugal force. A spatial index is used to facilitate geometric search for the path-planning task. Computer simulation results are presented to illustrate the feasibility of this approach

Keywords

computational geometry; navigation; position control; robots; 2D plane; geometric search; mobile robot; moving obstacles; planning a path; spatial indexing; Acceleration; Computer science; Computer simulation; Educational institutions; Indexing; Mobile robots; Navigation; Path planning; Robotics and automation; Spatial indexes;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Conference_Location

Philadelphia, PA

Print_ISBN

0-8186-0852-8

Type

conf

DOI

10.1109/ROBOT.1988.12305

Filename

12305