A new path planning algorithm for moving a point object amidst unknown obstacles in a plane
A new path planning algorithm for moving a point object amidst unknown obstacles in a plane
复制标题
一种新的路径规划算法，用于在平面中的未知障碍物中移动点对象
DOI：
10.1109/robot.1990.126290
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
M. Vidyasagar
中科院分区：
文献类型：
--
作者：
A. Sankaranarayanan;M. Vidyasagar
考虑在二维平面中、未知障碍物中移动点对象的非启发式路径规划或移动自动化 (MA)。仅使用本地信息（例如 MA 的当前位置以及它是否与障碍物接触）逐点生成路径。提出了一种解决该问题的路径规划算法。该算法用于实现同类中可能的最小最坏情况路径长度。该算法的过程给出了解释。处理其各种特征，例如本地循环创建、最坏情况路径长度、目标可达性条件等。其性能与现有算法进行了比较。给出了显示算法操作的示例。<<ETX>>
A nonheuristic path planning for moving a point object, or mobile automation (MA), in a two-dimensional plane, amidst unknown obstacles, is considered. A path is to be generated, point by point, using only the local information, like the MA's current position and whether it is in contact with an obstacle. A path-planning algorithm to solve this problem is proposed. The algorithm is used to realize the smallest worst-case path length possible in its category. The procedure for the algorithm is presented with explanations. Its various characteristics, such as local cycle creation, worst-case path length, target reachability conditions, etc. are dealt with. Its performance is compared with that of the existing algorithms. Examples showing the operation of the algorithm are presented.<<ETX>>