{"title":"Robot path planning using intersecting convex shapes: Analysis and simulation","authors":"Sanjiv Singh, M. D. Wagh","doi":"10.1109/JRA.1987.1087080","DOIUrl":null,"url":null,"abstract":"An automated path planning algorithm for a mobile robot in a structured environment is presented. An algorithm based on the Quine-McCluskey method of finding prime implicants in a logical expression is used to isolate all the largest rectangular free convex areas in a specified environment. The free convex areas are represented as nodes in a graph, and a graph traversal strategy that dynamically allocates costs to graph paths is used. Complexity of the algorithm and a strategy to trade optimality for smaller computation time are discussed.","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"466 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"67","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/JRA.1987.1087080","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 67
Abstract
An automated path planning algorithm for a mobile robot in a structured environment is presented. An algorithm based on the Quine-McCluskey method of finding prime implicants in a logical expression is used to isolate all the largest rectangular free convex areas in a specified environment. The free convex areas are represented as nodes in a graph, and a graph traversal strategy that dynamically allocates costs to graph paths is used. Complexity of the algorithm and a strategy to trade optimality for smaller computation time are discussed.
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