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Authors
Elias K. Xidias; Nikos A. Aspragathos

Identifier
10.3182/20060906-3-IT-2910.00011

Index Terms
motion planning,trajectory planning,mobile robots,configuration-time space,Bump-HyperSurface,genetic algorithms

Abstract
In this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles.

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