Abstract
This paper presents an on-line planner for sub-optimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, the obstacles are avoided in an order determined by a global criterion, whereas in unknown environment, obstacles are avoided as they are detected by on-board sensors. This avoidance strategy converges globally to the goal, regardless of the order in which the obstacles are selected. The planner is demonstrated for a point robot moving amongst general planar polygonal obstacles.
| Original language | English |
|---|---|
| Pages (from-to) | 335-340 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| State | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 10 May 1999 → 15 May 1999 |