Intelligent navigation for an autonomous mobile robot

E. Y. Rodin, Massoud Amin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


The authors present a navigational algorithm for solving the problem of collision-free path planning and real-time control of an autonomous mobile robot in an environment cluttered with moving obstacles. The proposed approach is based on geometric representation/multiobjective A* search and the path smoothing/steering control techniques. An attempt was made to introduce a geometric structure into a paradigm that lacked any previous structure, as well as a multiobjective search technique. The proposed navigational system has the following three-level structure: identifier, goal selector, and adapter. The authors are currently implementing the algorithm on a Sun 4 artificial intelligence workstation.

Original languageEnglish (US)
Title of host publicationThird Int Symp Intell Control
EditorsH.E. Stephanou, A. Meystel, J.Y.S. Luh
PublisherPubl by IEEE
Number of pages4
ISBN (Print)0818620129
StatePublished - Dec 1 1988
Externally publishedYes
EventThird International Symposium on Intelligent Control 1988 - Arlington, VA, USA
Duration: Aug 24 1988Aug 26 1988


OtherThird International Symposium on Intelligent Control 1988
CityArlington, VA, USA


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