Minimum time path planning for robot motion in obstacle strewn environment

摘要

A new algorithm of minimum time motion planning is proposed for robots operating in the obstacle strewn environment. Structure of the topological passageways is analyzed and represented using a model of slalom situations for which a number of rules is determined. Dynamical system of robot is described in a form of sequential machine. Thls enabled a merger between two kindred algorithms: A* search algorithm, and dynamic programming. An experimental analysis of the simulated mobile robot has confirmed the applicability of results.