The problem of planning motions for a mobile robot in the presence of objects moving on unknown trajectories and with unknown velocities is addressed. The robot must follow a predefined path with a given tolerance and reach its destination by a given time without colliding with any obstacle. Objects are represented by nonintersecting discs in the plane, and the robot by a point. The proposed method relies on the use of sensors to detect obstacles, and interleaves path planning with execution. Experimental results obtained both in simulation and with a real robot are shown.
Bibliographical noteFunding Information:
Manuscript received January 27, 1989; revised October I. 1989. This work was supported in part by a grant from the AT&T Foundation and in part by a grant from the Project Woksape of the University of Minnesota and in part by NSF grant no. NSF/CCR 8715220. The authors are with the Department of Computer Science, University of Minnesota, 4-192 EE/CSci Building. 200 Union St. SE., Minneapolis, MN 55455. IEEE Log Number 9037601.