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A Path Planning Algorithm for Automated Construction Equipment
Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction
This paper presents a new sensor-based path planning algorithm, the ACE algorithm, in unknown environment with multiple moving obstacles . The ACE algorithm is designed for an automated construction equipment (ACE). The algorithm is based on the practical assumptions that fit to the construction environment. It is assumed that the robot can measure instantaneous velocity of obstacles in a range of vision and has a cache memory to memorize a generated path from a tracking point. The ACEdoi:10.22260/isarc1999/0084 fatcat:nsl3ho4xs5ga5amecurwmm6g7u