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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.>
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C. Alexopoulos
RWTH Aachen University
Paul Griffin
Pennsylvania State University
IEEE Transactions on Systems Man and Cybernetics
Georgia Institute of Technology
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Alexopoulos et al. (Wed,) studied this question.
synapsesocial.com/papers/6a2198f236bad5b948f1d3f3 — DOI: https://doi.org/10.1109/21.148404
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