PATH PLANNING FOR A MOBILE ROBOT

被引：90
作者：
ALEXOPOULOS, C
GRIFFIN, PM
机构：
[1] School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1992年 / 22卷 / 02期
关键词：
D O I：
10.1109/21.148404
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：318 / 322
页数：5
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