PATH PLANNING FOR A MOBILE ROBOT

被引：91

作者：

ALEXOPOULOS, C

GRIFFIN, PM

机构：

[1] School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1992年 / 22卷 / 02期

关键词：

D O I：

10.1109/21.148404

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

收藏

页码：318 / 322

页数：5

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