There has been a wealth of research on path planning in an environment that contains a set of stationary obstacles. This chapter begins with a brief overview of some of the basic approaches to dealing with stationary obstacles. Especially, the concepts of “visibility” and “space decomposition” play fundamental roles in path planning in two dimensions. These concepts also form the basis of our approaches to solving motion planning problems in dynamic domains in the following chapters. The concept of visibility is important as it is used to generate a shortest path between given start and destination points in a two-dimensional environment cluttered with polygonal obstacles. The idea of space decomposition has led to a number of fast methods to generate reasonably good paths in an environment with stationary obstacles.
KeywordsMobile Robot Motion Planning Path Planning Configuration Space Voronoi Diagram
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