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Avoidance of obstacles with unknown trajectories: locally optimal paths and path complexity, Part II

  • James Gil de Lamadrid and Jill Zimmermanf
Summary

Continuing the work presented in part I, ‡ we consider the problem of moving a point robot through a two dimensional workspace containing polygonal obstacles moving on unknown trajectories. We propose to use sensor information to predict the trajectories of the obstacles, and interleave path planning and execution. We define a locally minimum velocity path as an optimal robot trajectory, given only local information about obstacle trajectories. We show that the complexity of a path planning problem can be characterized by how frequently the robot must change directions to approximate the locally minimum velocity path. Our results apply to both robots with and without maximum velocity limits.

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1.de Lamadrid, J.F. Gil and Zimmerman, J.L., “Avoidance of Obstacles with Unknown Trajectories: Locally Optimal Paths and Path Complexity, Part IRobotica 11, part 4, pp. 299308 (1993).
2.Schwartz, J.T., Hopcroft, J. and Sharir, M., Planning, Geometry and Complexity of Robot Motion (Ablex Pub. Co., Norwood, NJ., 1987) pp. 267281.
3.Yap, C.K., “Algorithmic Motion Planning”, Algorithmic and Geometric Aspects of Robotics (Schwartz, J.T. and Yap, C.K., eds) (Lawrence Erlbaum, Hillside, NJ, 1987) pp. 951143.
4.Erdmann, M. and Lozano-Perez, T., “On Multiple Moving Objects”, IEEE International Conference on Robotics and Automation(1986) pp. 14191424.
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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