DocumentCode
2503115
Title
Motion planning for mobile robots in a dynamic environment with moving obstacles
Author
Pan, Tai-Jee ; Luo, Ren C.
Author_Institution
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
578
Abstract
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed
Keywords
mobile robots; navigation; planning (artificial intelligence); search problems; artificial intelligence; dynamic environment; mobile robots; motion planning; moving obstacles; navigation; path planning; search algorithm; traversability vectors; Computational geometry; Intelligent robots; Intelligent systems; Mobile robots; Motion planning; Orbital robotics; Robot kinematics; Robot motion; Shape; Time factors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126043
Filename
126043
Link To Document