Affiliation:
1. Mechanical and Aerospace Engineering, University of California, Los Angeles, California 90095, USA
Abstract
This paper presents an online planner for suboptimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global criterion. In unknown environments, obstacles are avoided as they are detected by on-board sensors. This avoidance strategy is guaranteed to reach the goal regardless of the order in which the obstacles are avoided. The method is demonstrated in several examples for an omnidirectional point robot moving among planar polygonal obstacles.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
16 articles.
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