Abstract
Motion planning is studied in a time-varying environment. The environment contains a set of obstacles that have cyclic (i.e. repeated) motions. Cyclic motion is a generalization over simpler motion patterns such as straight-line motions and is capable of representing much more complex and realistic time-varying environments than those previously considered. In our model, the destination point is also allowed to have a cyclic motion. Two methods are presented for generating a collision-free path and their convergence property is established. The first method is suited for sensor-based navigation while the second method is an algorithm for gross motion planning. Computer simulation is presented to demonstrate the feasibility of our approach.
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