Route Planning For Mobile Robots Amidst Moving Obstacles
Kikuo Fujimura · 2005
Route planning for mobile robots among moving obstacles is studied. Unlike most of the work in motion planning amidst moving obstacles, our mobile robots are constrained to move in a prespecified network of roads. Given an environment containing moving obstacles, &,art and destination nodes in the network, and a start time, the method is presented to find a collision-free route in the network that takes the mobile robot from the start node to the destination time in minimum time, if there is one. The problem is divided into two subproblems: (i) one-dimensional path planning amidst dynamic obstacles and (ii) path search in the network of roads. Algorithms as well as time complexity analysis are presented.