Accession Number : ADA184075

Title :   Two Dimensional Path Planning with Obstacles and Shadows.

Descriptive Note : Technical rept.,

Corporate Author : MARYLAND UNIV COLLEGE PARK CENTER FOR AUTOMATION RESEARCH

Personal Author(s) : Puri,Sunil ; Davis,Larry S

PDF Url : ADA184075

Report Date : Jan 1987

Pagination or Media Count : 44

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.

Descriptors :   *PATHS, *PLANNING, *ROBOTICS, *VISUAL PERCEPTION, LIMITATIONS, DETECTORS, IMAGES, MOBILE, ALGORITHMS, TWO DIMENSIONAL, OBSCURATION, VISION

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE