Minimum time path planning for robot motion in obstacle strewn environment
Alex Meystel, A. Guez, G. Hillel · 1986
A new algorithm of minimum time motion planning is proposed for robots operating in the obstacle strewn environment.Structure of the topological passageways is analyzed and represented using a model of slalom situations for which a number of rules is determined.Dynamical system of robot is described in a form of sequential machine.Thls enabled a merger between two kindred algorithms: A* search algorithm, and dynamic programming.An experimental analysis of the simulated mobile robot has confirmed the applicability of results.