Adaptive path planner for highly dynamic environments

Jacky Baltes, Nicholas Hildreth

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper describes adaptive path planning, a novel approach to path planning for car-like mobile robots. Instead of creating a new plan from scratch, whenever changes in the environment invalidate the current plan, the adaptive path planner attempts to adapt the old plan to the new situation. The paper proposes an efficient representation for path that is easily amendable to adaptation. Associated with the path planner is a set of repair strategies. These repair strategies are local methods to fix a plan to compensate for object movement in the domain. The repair strategies are specific and have a high probability of being able to fix a plan. An empirical evaluation shows that adaptive path planning is suitable to highly dynamic domains, such as RoboCup. Adaptive path planning reduces the cumulative planning time by a factor of 2:7 compared to Bicchi's planner. At the same time, the quality of the plans generated by the adaptive path planner were similar to those generated by Bicchi's planner.

Original languageEnglish
Title of host publicationRoboCup 2000
Subtitle of host publicationRobot Soccer World Cup IV
EditorsPeter Stone, Tucker Balch, Gerhard Kraetzschmar
PublisherSpringer Verlag
Pages76-85
Number of pages10
ISBN (Print)3540421858, 9783540421856
DOIs
Publication statusPublished - 2001
Event4th Robot World Cup Soccer Games and Conferences, RoboCup 2000 - Melbourne, VIC, Australia
Duration: 2000 Aug 272000 Sep 3

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2019 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other4th Robot World Cup Soccer Games and Conferences, RoboCup 2000
CountryAustralia
CityMelbourne, VIC
Period00/8/2700/9/3

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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