Adaptive path planner for highly dynamic environments

Jacky Baltes*, Nicholas Hildreth

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

10 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題RoboCup 2000
主出版物子標題Robot Soccer World Cup IV
編輯Peter Stone, Tucker Balch, Gerhard Kraetzschmar
發行者Springer Verlag
頁面76-85
頁數10
ISBN(列印)3540421858, 9783540421856
DOIs
出版狀態已發佈 - 2001
對外發佈
事件4th Robot World Cup Soccer Games and Conferences, RoboCup 2000 - Melbourne, VIC, 澳大利亚
持續時間: 2000 八月 272000 九月 3

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
2019 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他4th Robot World Cup Soccer Games and Conferences, RoboCup 2000
國家/地區澳大利亚
城市Melbourne, VIC
期間2000/08/272000/09/03

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

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