Generation of Collision-Free Path of a Mobile Object by Contracting and Restoring Obstacle Spaces
Hiroaki Ozaki, Akira MOHRI, Tatsuyuki SHIMADZU · Transactions of the Society of Instrument and Control Engineers · 1988
This paper presents a new method to generate a collision-free path of a mobile object. Obstacle spaces are artificially contracted to obtain an initial collision-free path and then the path is iteratively modified to avoid the obstacle spaces which are gradually restored.