Motion planning in Prototypical Corridors

We discuss the motion planning of a rectangular moving object in certain prototypical situations arising in a 2-D isothetic workspace. We have suggested three possible motion strategies involving rotation and translation of the moving object negotiating an L-shaped corridor. We have also given simulation results to compare the three cases of the proposed motion. E-mail: sowmya@cse.unsw.edu.au First author's affiliation: Department of Computer Science James Cook University of North Queensland Townsville QLD 4811, Australia 1 Introduction Motion planning is required for moving a robot from a source placement (s) to a destination placement (d) within a workspace occupied by obstacles. Motion planning for a mobile robot can be viewed as a two-level process. At level one, the primary interest is in solving the FINDPATH problem, called path planning under global constraints. The result of this level is a path description of the desired motion from s to d. Once a path is proposed by leve..