A Framework for Real-time Path Planning in Changing Environments

  title={A Framework for Real-time Path Planning in Changing Environments},
  author={Peter Leven and Seth Hutchinson},
  journal={I. J. Robotics Res.},
We present a new method for generating collision-free paths for robots operating in changing environments. Our approach is closely related to recent probabilistic roadmap approaches. These planners use preprocessing and query stages, and are aimed at planning many times in the same environment. In contrast, our preprocessing stage creates a representation of the configuration space that can be easily modified in real time to account for changes in the environment, thus facilitating real-time… CONTINUE READING
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