{"title":"Navigation algorithm for a nested hierarchical system of robot path planning among polyhedral obstacles","authors":"M. Montgomery, D. Gaw, A. Meystel","doi":"10.1109/ROBOT.1987.1087801","DOIUrl":null,"url":null,"abstract":"An algorithm NAVIGATOR for robot path planning in a 2D world with polygonal obstacles is presented. The method employs A* search in a subset of the visibility graph of obstacle vertices. A procedure is given for finding this subset of the visibility graph without computing line intersections. The NAVIGATOR module is part of a complete hierarchical system for control and world representation for a robot which operates in an unkown and unstructured environment.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087801","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
Abstract
An algorithm NAVIGATOR for robot path planning in a 2D world with polygonal obstacles is presented. The method employs A* search in a subset of the visibility graph of obstacle vertices. A procedure is given for finding this subset of the visibility graph without computing line intersections. The NAVIGATOR module is part of a complete hierarchical system for control and world representation for a robot which operates in an unkown and unstructured environment.
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