* National Aerospace Laboratories, Bangalore.
** BAE Systems, Johannesburg, South Africa. E-mail: gksnal@rediffmail.com; gksingh@nal.res.in.
In this paper, the problem of path-planning with dynamically moving elliptical obstacles is addressed. A new analytical result for computing the axes aligned bounding box for the ellipses with bounded uncertainty in the position of the centre and the orientation is presented. Genetic algorithm is utilised for finding the shortest path from the initial to goal position avoiding the moving obstacles.
Path-planning, genetic algorithm, elliptical obstacles
