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Path planning for a mobile robot

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1 Author(s)
Alexopoulos, C. ; Sch. of Ind. & Syst. Eng., Georgia Inst. of Technol., Atlanta, GA

Two problems for path planning of a mobile robot are considered. The first problem is to find a shortest-time, collision-free path for the robot in the presence of stationary obstacles in two dimensions. The second problem is to determine a collision-free path (greedy in time) for a mobile robot in an environment of moving obstacles. The environment is modeled in space-time and the collision-free path is found by a variation of the A* algorithm

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:22 ,  Issue: 2 )