Path planning in an unknown environment on the basis of observations of occluded areas

In order to get to a destination in an unknown environment, one must make efficient observations of the environment while moving toward the destination. This report begins with a classification of the conditions under which an observer’s view is blocked (occlusion). Once the agent has classified the visible occlusions in its environment, it determines the next point from which to carry out observations. A method is proposed here for planning the path to a given destination by planning a path to successive observation points. In doing so, the proposed path to the destination passes through a series of observation points. A simple algorithm is used to determine the location of the next observation point. The method allows planning calculations to be performed in real time and also provides sufficient flexibility for mapping of obstacles with curved surfaces. This search scheme also separates and alternates between the tasks of moving and taking observations, which facilitates the programming of real robots to use this algorithm. Simulations of operations using this algorithm in a variety of environments are described in this report.