Planning a time-minimal motion among moving obstacles

  title={Planning a time-minimal motion among moving obstacles},
  author={Kikuo Fujimura and Hanan Samet},
Motion planning for a point robot is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The point to be reached (referred to as the destination point) also moves along a known trajectory. The concept of “accessibility” from a point to a moving object is introduced, and is used to define a graph on a set of moving obstacles. If the point robot is able to move faster than any of the obstacles, then the graph exhibits an… CONTINUE READING