Modification of Hilbert’s Space-Filling Curve to Avoid Obstacles: A Robotic Path-Planning Strategy

This paper addresses the problem of exploring a region using Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement evasive strategies to avoid up to two obstacles placed side by side and successfully explore the entire region. The strategies are specified changing the waypoint array followed by the robot, locally at the hole. The fractal nature of Hilbert's space-filling curve has been exploited in proving the validity of the solution. Extension of algorithm for bigger obstacles is briefly shown.