January 1, 1986

Robot path planning using intersecting convex shapes

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Abstract

This paper deals with an automated path planning algorithm for a mobile robot in a structured enviornment. The algorithm is based upon finding all the largest (prime) free convex areas in the environment and representing this information in the form of a graph. A graph traversal algorithm which exploits back-tracking as well as dynamic cost allocation to graph arcs is presented and simulated. A strategy to trade of the optimality of the results for a smaller computation time is described.

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Singh et al. (Wed,) studied this question.

synapsesocial.com/papers/6a08dfee73760a4edcd6080b https://doi.org/https://doi.org/10.1109/robot.1986.1087448

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Carnegie Mellon University

Lehigh University

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Robot path planning using intersecting convex shapes

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Abstract

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