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Real-time path planning optimisation algorithm for obstacle avoidance

Hur, S. and Petropoulakis, L. (2006) Real-time path planning optimisation algorithm for obstacle avoidance. In: International Control Conference (ICC2006). University of Strathclyde, Glasgow, pp. 62-68. ISBN 0947649549


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This paper presents a new real-time path planning algorithm suitable for implementation on small mobile robots to aid navigation in unknown environments. The Random Obstacle Avoidance (R.O.A) algorithm was developed for small robots and it can be used as the basis for mapping the environment. The algorithm has been tested through a specially developed simulation environment using MATLAB. The main characteristics of the algorithm are simplicity, ease of implementation, speed, and efficiency.