Two Dimensional Path Planning with Obstacles and Shadows.

Abstract

A mobile robot navigates with a limited knowledge of its environment because of the restricted field of view and range of its sensors, and the occlusion of parts of the environment in any single image. Most path planning algorithms consider only free regions and obstacles in the robot's world for path planning. The objective of this report is to extend the classical path planning paradigm to include occluded regions. This introduces the new problem of deciding when (or whether) to employ the sensor system during the execution of the path to, potentially, reveal the occluded regions as obstacles or free space for the purpose of replanning.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1987
Accession Number
ADA184075

Entities

People

  • Larry S. Davis
  • Sunil Puri

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Classification
  • Collision Avoidance
  • Demographic Cohorts
  • Line Of Sight
  • Motion Planning
  • Navigation
  • Robot Navigation
  • Robotics
  • Robots
  • Security
  • Sequences
  • Simulations
  • Simulators
  • Specifications
  • Trees (Data Structures)
  • Two Dimensional

Readers

  • Artificial Intelligence
  • Electromagnetic Wave Scattering and Antenna Radiation Engineering
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers