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Robot path planning using intersecting convex shapes: Analysis and simulation

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2 Author(s)
Singh, J. ; Carnegie-Mellon University, Pittsburgh, PA, USA ; Wagh, M.

An automated path planning algorithm for a mobile robot in a structured environment is presented. An algorithm based on the Quine-McCluskey method of finding prime implicants in a logical expression is used to isolate all the largest rectangular free convex areas in a specified environment. The free convex areas are represented as nodes in a graph, and a graph traversal strategy that dynamically allocates costs to graph paths is used. Complexity of the algorithm and a strategy to trade optimality for smaller computation time are discussed.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 2 )

Date of Publication:

April 1987

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