Trajectories optimization by environment acquisition for autonomous mobile robots

The importance of environment acquisition in free-path finding trajectories in mobile robotics is discussed. A technique is proposed to allow the operator to perform environment acquisition by means of HAMID (heuristics for autonomous mobiles with integrated design). Both the breadth-first search (BS) and the depth-first search (DS) are applied to this representation for free-path finding trajectories. Clothoid insertion to smooth the chosen trajectories is discussed.<
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