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In a 2-1 /D world an isolines-based world reprmnation is employed. An algarithm of navigation is proposed based upon polygonization of the isolines, and use of the vertices of the polygon as n e in the graph search. Quanitative recommendations are given concerning the required density of isolines and the error Of polygoniwtion. When a physical model of mechanical motion is applied, this algorithm of navigation provides minimum-time trajectoriss of motion. The results of navigation are illUStrated Using a simulation system developed for an Intelligent Mobile Autonomous System (unmanned robot). KW wur@ isolines, polygonization, path-planning, world representation.

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