An algorithm is presented for path planning in a dynamic environment where not only obstacles are moving also the goal of the mobile robot. The basic idea of this algorithm is to introduce the Euclidean distance as a value for each cell in the discretized workspace. The moving obstacles are represented by a time-varying set of cells, whose values are multiplied by a factor greater than unity representing the virtual distance. Collision-free trajectory is calculated by finding the lowest value of the eight neighbor cells. This algorithm can easily work when the mobile robot objective is moving, even in the presence of a complex environment, and can also be extended to path planning in three dimensions. The usefulness of this algorithm is shown by simulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory planning for mobile robots in a dynamic environment


    Contributors:
    Mechlih, H. (author)


    Publication date :

    1993-01-01


    Size :

    365288 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Trajectory Planning for Mobile Robots in a Dynamic Environment

    Mechlih, H. / IEEE / IEE | British Library Conference Proceedings | 1993


    Development of a Shared Environment Model with Dynamic Trajectory Representation for Multiple Mobile Robots

    Roder, Sebastian Quirin / Rothmeyer, Florian / Spiegelberger, Bernd et al. | Springer Verlag | 2020

    Free access

    TRAJECTORY EVALUATION FOR MOBILE ROBOTS

    MAGYAR BENCE / MULLAN SEAN / SILVA ALEXANDRE et al. | European Patent Office | 2024

    Free access

    Trajectory Generation for Mobile Robots

    Tounsi, M. / Le Corre, J. F. / IEEE et al. | British Library Conference Proceedings | 1994