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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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Alexopoulos et al. (1992) studied this question.
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