An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
| Hi-index | 0.00 |
Autonomous navigation of a mobile robot requires that several problems be solved. These problems can be classified corresponding to their hierarchical level. We have defined four levels including, from top to bottom:communication with host (human or computer), interpretation of a high level task and definition of topological navigation subgoals;translation of topological navigation subgoals into geometrical path;calculation of the real path to execute;execution of this path, given the velocity commands and assuming a security function.