2019/10/06 by Anant A. Joshi, Maulik Bhatt, Maulik C. Bhatt +1 · 5 citations
Computer Science · Engineering · Mathematics · #Algorithm #Artificial intelligence #Computational Geometry and Mesh Generation #Computer science #Fractal #Hilbert curve #Hilbert space #Mathematical analysis #Mathematical optimization #Mathematics #Motion planning #Obstacle #Path (computing) #Real-time computing #Robot #Robotic Path Planning Algorithms #Robotics and Sensor-Based Localization #Space (punctuation) #Waypoint #cs.SY #eess.SY
paper · pdf · doi:10.1109/icc47138.2019.9123166
arxiv created 2019/10/06 · openalex created_date 2019/10/18 · openalex publication_date 2019/12/01 · arxiv updated 2020/07/02 · openalex updated_date 2026/08/05
This paper addresses the problem of exploring a region using Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement evasive strategies to avoid up to two obstacles placed side by side and successfully explore the entire region. The strategies are specified changing the waypoint array followed by the robot, locally at the hole. The fractal nature of Hilbert's space-filling curve has been exploited in proving the validity of the solution. Extension of algorithm for bigger obstacles is briefly shown.