Path planning among moving obstacles using spatial indexing

K Fujimura, H Samet - Proceedings. 1988 IEEE International …, 1988 - ieeexplore.ieee.org
Proceedings. 1988 IEEE International Conference on Robotics and …, 1988ieeexplore.ieee.org
A method is presented for planning a path in the presence of moving obstacles. Given a set
of polygonal moving obstacles, a path is generated for a mobile robot that navigates in the
two-dimensional plane. Time is included as one of the dimensions of the model world. This
allows the moving obstacles to be regarded as stationary in the extended world. For a
solution to be feasible, the robot must not collide with any other moving obstacles and must
navigate within the predetermined range of velocity, acceleration, and centrifugal force. A …
A method is presented for planning a path in the presence of moving obstacles. Given a set of polygonal moving obstacles, a path is generated for a mobile robot that navigates in the two-dimensional plane. Time is included as one of the dimensions of the model world. This allows the moving obstacles to be regarded as stationary in the extended world. For a solution to be feasible, the robot must not collide with any other moving obstacles and must navigate within the predetermined range of velocity, acceleration, and centrifugal force. A spatial index is used to facilitate geometric search for the path-planning task. Computer simulation results are presented to illustrate the feasibility of this approach.< >
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