Path Planning for a Mobile Robot

Christos Alexopoulos; Paul M. Griffin

doi:10.1109/21.148404

Path Planning for a Mobile Robot

Christos Alexopoulos
, Paul M. Griffin

Harold and Inge Marcus Department of Industrial and Manufacturing Engineering

Research output: Contribution to journal › Article › peer-review

123 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	318-322
Number of pages	5
Journal	IEEE Transactions on Systems, Man and Cybernetics
Volume	22
Issue number	2
DOIs	https://doi.org/10.1109/21.148404
State	Published - 1992

All Science Journal Classification (ASJC) codes

General Engineering

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10.1109/21.148404

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title = "Path Planning for a Mobile Robot",

abstract = "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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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Alexopoulos, Christos

AU - Griffin, Paul M.

PY - 1992

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N2 - 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.

AB - 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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JO - IEEE Transactions on Systems, Man and Cybernetics

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Path Planning for a Mobile Robot

Abstract

All Science Journal Classification (ASJC) codes

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