A ALGORITHM OF SMOOTH COLLISION--FREE PATH PLANNING IN TIME--VARYING ENVIRONMENTS FOR ROBOTS
Weijia Xu · Robot · 1990
This paper dissuses thc problem of robot path planning in the presence or static and moving obstacles. Thereare two sub-problems: (1) planning the path to avoid collision with static obstacles; (2) planning the velocity alongthe path to avoid collision with moving obstacles. We transform the second sub-problem to a 2-dimensional staticproblem in time-path space. By using rational parametric function, a collision-free trajectory for robots can beobtained.