| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712552 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Elias K. Xidias, Nikos A. Aspragathos,