Proceedings of VNIS '93 - Vehicle Navigation and Information Systems Conference
DOI: 10.1109/vnis.1993.585693
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Trajectory planning for mobile robots in a dynamic environment

Abstract: An algorithm is presented for pat,h planning i n dynamic environment where not only obst,acles are moving but also goal of mobile robot. The basic idea of t,liis algorithm is to introduce the Euclidean distance as a value for each cell in the discretized workspace. The moving olxtaclcs are represented by a time varying set of cells whose values are multiplied by a factor greater than unit,y representing t,he virtual distance. Then collision-free t,raject.ory is calcrilatrd by finding the lowest value of the ei… Show more

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