Path Planning for a Mobile Robot

Christos Alexopoulos, Paul M. Griffin

Research output: Contribution to journalArticlepeer-review

113 Scopus citations


Two problems for path planning of a mobile robot are considered. The first problem is to find a shortest-time, collision-free path for the robot in the presence of stationary obstacles in two dimensions. The second problem is to determine a collision-free path (greedy in time) for a mobile robot in an environment of moving obstacles. The environment is modeled in space-time and the collision-free path is found by a variation of the A algorithm.

Original languageEnglish (US)
Pages (from-to)318-322
Number of pages5
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number2
StatePublished - 1992

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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