Robot Path Planning Using Intersecting Convex Shapes - Robotics Institute Carnegie Mellon University

Robot Path Planning Using Intersecting Convex Shapes

Sanjiv Singh and M. D. Wagh
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1743 - 1748, April, 1986

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.

BibTeX

@conference{Singh-1986-15275,
author = {Sanjiv Singh and M. D. Wagh},
title = {Robot Path Planning Using Intersecting Convex Shapes},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1986},
month = {April},
pages = {1743 - 1748},
}