Conclusions

Abstract

The ability to handle dynamic obstacles is expected to become increasingly important for intelligent mobile robots in the future. For motion planning among stationary obstacles, minimizing the total path length is frequently a major concern. The visibility graph and space decomposition are often used to generate shortest or reasonably short paths in the plane. Time-minimality is one of the critical considerations; the robot may be crushed between obstacles unless it takes a time-minimal motion from a start point to a destination point. For this reason, our primary concern in this monograph has been to generate time-minimal motions. We have studied motion planning in a variety of dynamic domains.