Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation
Journal Article, IEEE Journal of Robotics and Automation, Vol. 3, No. 2, pp. 101 - 108, April, 1987
Abstract
An automated path planning algorithm for a mobile robot in a structured environment is presented. An algorithm based on the Quine-McCluskey method of finding prime implicants in a logical expression is used to isolate all the largest rectangular free convex areas in a specified environment. The free convex areas are represented as nodes in a graph, and a graph traversal strategy that dynamically allocates costs to graph paths is used. Complexity of the algorithm and a strategy to trade optimality for smaller computation time are discussed.
BibTeX
@article{Singh-1987-15330,author = {Sanjiv Singh and M. D. Wagh},
title = {Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation},
journal = {IEEE Journal of Robotics and Automation},
year = {1987},
month = {April},
volume = {3},
number = {2},
pages = {101 - 108},
}
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