NDLI: Navigation in a hazardous environment with distributed shelters

Content Provider	IEEE Xplore Digital Library
Author	Sharma, R. Mount, D.M. Aloimonos, Y.
Copyright Year	1991
Description	Author affiliation: Comput. Vision Lab., Maryland Univ., College Park, MD, USA (Sharma, R.; Mount, D.M.; Aloimonos, Y.)
Abstract	The problem of efficient path planning for a point robot in a partially known dynamic environment is considered. The static known part of the environment consists of point shelters distributed in planar terrain, and the dynamic, unknown part is abstracted in the form of alarms that cause the robot to leave its current (pre-planned) path and divert to the nearest shelter. A probabilistic analysis of the expected times for the dynamic paths generated when the alarms follow a Poisson distribution with parameter lambda is given. A case study with three shelters serves to illustrate the dependence of the expected travel times on lambda for two alternate static paths. Two different strategies are presented for the general case of n shelters and shown to be superior for different ranges of values of the alarm rate lambda (very low and very high values, respectively).
Starting Page	883
Ending Page	888
File Size	523688
Page Count	6
File Format	PDF
ISBN	0780302338
DOI	10.1109/ICSMC.1991.169798
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-10-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Path planning Motion planning Robot sensing systems Robotics and automation Computer vision Computer science Educational institutions Robot vision systems Mobile robots
Content Type	Text
Resource Type	Article

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