Path modelisation and planning: application to 2D/sup 1/2/ and to mobile objects

The evolution-space modeling of a robot and its path planning is presented. The static and dynamic modeling of an environment whether in accessible or inaccessible cells is also presented. The path planning is based on a heuristic algorithm derived from the algorithms of C.Y. Lee (1961) and P.E. Hart et al. (1968). The method is extended to the dynamic modeling of mobile objects.<
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