Robot Path Planning Using Intersecting Convex Shapes

April 1986

Robot Path Planning Using Intersecting Convex Shapes

Authors:

Sanjiv Singh and M. D. Wagh
Conference Paper
Proceedings of (ICRA) International Conference on Robotics and Automation

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.
@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},
}
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