Dynamic path planning in sensor-based terrain acquisition
V. Lumelsky, S. Mukhopadhyay, Kang Sun · IEEE Transactions on Robotics and Automation · 1990
The terrain acquisition problem is formulated as that of continuous motion planning, and no constraints are imposed on obstacle geometry. Two algorithms are described for acquiring planar terrains with obstacles of arbitrary shape. Estimates of the algorithm performance are derived as upper bounds on the lengths of generated paths.>