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IROS
2008
IEEE

Replanning: A powerful planning strategy for hard kinodynamic problems

10 years 4 months ago
Replanning: A powerful planning strategy for hard kinodynamic problems
— A series of kinodynamic sampling-based planners have appeared over the last decade to deal with high dimensional problems for robots with realistic motion constraints. Yet, offline sampling-based planners only work in static and known environments, suffer from unbounded memory requirements and the produced paths tend to contain a lot of unnecessary maneuvers. This paper describes an online replanning algorithm which is flexible and extensible. Our results show that using a sampling-based planner in a loop, we can guide the robot to its goal using a low dimensional navigation function. We obtain higher success rates and shorter solution paths in a series of problems using only bounded memory.
Konstantinos I. Tsianos, Lydia E. Kavraki
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Konstantinos I. Tsianos, Lydia E. Kavraki
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