A recursive method of trajectory planning for a point-like mobile robot in transient environment utilizing paint procedure.
Hisashi Suzuki, Suguru Arimoto · Journal of the Robotics Society of Japan · 1990
and another area DG being accessible to G. Next, select an arbitrary point M just on the boundary between DB and DG.Then, the original problem is decomposed into •ga problem of trajectory planning from B to M in environment DB•h and •ganother problem of trajectory planning from M to G in environment DG.•hBy repeating this decomposition, each problem becomes primitive problem joining some adjacent two points in small environment.The trajectory joining the original B and G is a sequence of many short trajectories solved thus.