A recursive method of trajectory planning for a point-like mobile robot in transient environment utilizing paint procedure.

Abstract

paint procedure supported by graphics library in computer, examine an area DB being accessible from B and another area DG being accessible to G. Next, select an arbitrary point M just on the boundary between DB and DG. Then, the original problem is decomposed into ga problem of trajectory planning from B to M in environment DBh and ganother problem of trajectory planning from M to G in environment DG.h By repeating this decomposition, each problem becomes primitive problem joining some adjacent two points in small environment. The trajectory joining the original B and G is a sequence of many short trajectories solved thus.