Path planning for a mobile robot
Path planning for a mobile robot
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DOI：
10.1109/21.148404
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发表时间：
1992-03
期刊：
影响因子：
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通讯作者：
C. Alexopoulos;P. M. Griffin
中科院分区：
文献类型：
--
作者：
C. Alexopoulos;P. M. Griffin
研究了移动机器人路径规划的两个问题。第一个问题是在二维静止障碍物存在的情况下，为机器人找到一条时间最短、无碰撞的路径。第二个问题是确定移动机器人在移动障碍物环境中的无碰撞路径(时间贪婪)。在时空中对环境进行建模，并通过A*算法的变体来寻找无碰撞路径。>；
Two problems for path planning of a mobile robot are considered. The first problem is to find a shortest-time, collision-free path for the robot in the presence of stationary obstacles in two dimensions. The second problem is to determine a collision-free path (greedy in time) for a mobile robot in an environment of moving obstacles. The environment is modeled in space-time and the collision-free path is found by a variation of the A* algorithm. >