NDLI: Path planning for moving a point object amidst unknown obstacles in a plane: a new algorithm and a general theory for algorithm development

Content Provider	IEEE Xplore Digital Library
Author	Sankaranarayanar, A. Vidyasagar, M.
Copyright Year	1990
Description	Author affiliation: Dept. of Electr. Eng., Waterloo Univ., Ont., Canada (Sankaranarayanar, A.)
Abstract	A new algorithm Alg2 is developed to solve the problem of nonheuristically moving a point object (MA) between two given points, amidst unknown obstacles in a plane. The existing algorithms to solve this are Bug1 and Bug2 (J. Lumelsky and A.A. Stepanov, 1987) and Alg1 (A. Sankaranarayanan and M. Vidyasagar, 1990). The existing algorithms make MA follow mostly the contours of the obstacle boundaries. Under Alg2, MA follows the obstacles boundaries less and travels more along straight line segments towards the target point. The worst case path length, convergence, local cycle creation, etc. of Alg2 are presented along the examples of its operation. Alg2 is developed step by step, by adding new procedures to a certain primitive algorithm. This algorithm development brings out the basic requirements of a nonheuristic path planning algorithm, and this knowledge leads to a general algorithm Gen of which the algorithms Bug2, Alg1, and Alg2 are particular cases. This generalization helps understand the basic operating principles of a nonheuristic path planning algorithm.<>
Starting Page	1111
Ending Page	1119
File Size	1069873
Page Count	9
File Format	PDF
DOI	10.1109/CDC.1990.203773
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-12-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robot sensing systems Mobile robots Layout Intelligent robots Manipulators Sonar navigation Convergence Tactile sensors Councils
Content Type	Text
Resource Type	Article

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