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IJCAI
1997

Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics

9 years 3 months ago
Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics
In the dynamical systems approach to robot path planning both sensed and remembered information contribute to shape a nonlinear vector eld that governs the behavior of an autonomous agent. Such systems perform well with partial knowledge of the environment and in dynamically changing environments. Nevertheless, it is a local heuristic approach to path planning, and it is not guaranteed to nd existing paths. We describe a method of adjusting the spatial resolution of the planner using a dynamical system that operates at a faster time scale than the planning dynamics. This improves the system's ability to utilize both sensed and remembered information, and to solve a larger range of problems without resorting to global path planning.
Edward W. Large, Henrik I. Christensen, Ruzena Baj
Added 01 Nov 2010
Updated 01 Nov 2010
Type Conference
Year 1997
Where IJCAI
Authors Edward W. Large, Henrik I. Christensen, Ruzena Bajcsy
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