Читать книгу Path Planning of Cooperative Mobile Robots Using Discrete Event Models - Cristian Mahulea - Страница 19

At this point, two primary assumptions related to the work presented in this monograph are highlighted.

The first assumption is that the mobile robots are considered as omnidirectional points , where the domain of operation is a continuous Cartesian plane (2D plane). In this sense, the path planning problem can now be stated as moving the robot from its initial position to another position (or list of high‐level goals) while avoiding obstacles or while driving over the free space.

The second assumption is that the robot evolves in a known and static 2D environment cluttered with convex polygonal obstacles. This means that the robot should move from one position to another while remaining within , where is an obstacle‐free space for the map where the robot is going to move.