A methodology of autonomous navigation in 3-D space under location uncertainty
Alex C. Meng, Vytas B. Gylys · 1988
This paper addresses the methodology for constructing autonomous navigation schemes for which the path and free space corridor along the path are precomputed by means of Voronoi Diagram methods of computational geometry, and in which the position and the velocity of the vehicle are not exactly known during the navigation process. Such navigation schemes are useful in applications such as the routing of maneuvering missiles or robotic vehicles so that they, by traveling through the free space corridor, will avoid obstacles.