Path-guided artificial potential fields with stochastic reachable sets for motion planning in highly dynamic environments

@article{Chiang2015PathguidedAP,
  title={Path-guided artificial potential fields with stochastic reachable sets for motion planning in highly dynamic environments},
  author={Hao-Tien Chiang and Nick Malone and Kendra Lesser and Meeko M. K. Oishi and Lydia Tapia},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={2347-2354}
}
Highly dynamic environments pose a particular challenge for motion planning due to the need for constant evaluation or validation of plans. However, due to the wide range of applications, an algorithm to safely plan in the presence of moving obstacles is required. In this paper, we propose a novel technique that provides computationally efficient planning solutions in environments with static obstacles and several dynamic obstacles with stochastic motions. Path-Guided APF-SR works by first… CONTINUE READING

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