On the moving-obstacle path-planning algorithm of Shih, Lee, and Gruver

Robert A. Conn, Moshe Kam

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


We analyze a motion planning algorithm proposed by Shih, Lee, and Gruver [1]. In particular, we discuss the case of motion planning among moving obstacles, for which an algorithm is presented in [1]. The algorithm is claimed to always yield a collision-free path when one exists. We provide a specific counter-example to this claim, examine the possibility of repairing the algorithm, and discuss the computational complexity of a corrected algorithm.

Original languageEnglish (US)
Pages (from-to)136-138
Number of pages3
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number1
StatePublished - 1997
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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