A new algorithm of minimum time motion planning is proposed for robots operating in the obstacle strewn environment. Structure of the topological passageways is analyzed and represented using a model of slalom situations for which a number of rules is determined. Dynamical system of robot is described in a form of sequential machine. This enabled a merger between two kindred algorithms: A* search algorithm, and dynamic programming. An experimental analysis of the simulated mobile robot has confirmed the applicability of results.

This paper represents part of the ongoing research into an Intelligent Mobile Autonomous System (IMAS). An intermediate path planning subsystem (Navigator), for the hierarchy of IMAS, is presented which operates in completely known, partially known, and completely unknown environments. Information is passed from a sensor to the Navigator via the "Cartographer" which performs map updating. The interaction and performance of these subsystems are demonstrated in a simulation of the IMAS hierarchy.