Abstract
The authors present a navigational algorithm for solving the problem of collision-free path planning and real-time control of an autonomous mobile robot in an environment cluttered with moving obstacles. The proposed approach is based on geometric representation/multiobjective A* search and the path smoothing/steering control techniques. An attempt was made to introduce a geometric structure into a paradigm that lacked any previous structure, as well as a multiobjective search technique. The proposed navigational system has the following three-level structure: identifier, goal selector, and adapter. The authors are currently implementing the algorithm on a Sun 4 artificial intelligence workstation.
| Original language | English (US) |
|---|---|
| Title of host publication | Third Int Symp Intell Control |
| Editors | H.E. Stephanou, A. Meystel, J.Y.S. Luh |
| Publisher | Publ by IEEE |
| Pages | 366-369 |
| Number of pages | 4 |
| ISBN (Print) | 0818620129 |
| State | Published - Dec 1 1988 |
| Externally published | Yes |
| Event | Third International Symposium on Intelligent Control 1988 - Arlington, VA, USA Duration: Aug 24 1988 → Aug 26 1988 |
Other
| Other | Third International Symposium on Intelligent Control 1988 |
|---|---|
| City | Arlington, VA, USA |
| Period | 8/24/88 → 8/26/88 |