Path-Planning for Group Movement in Dynamic Environments

Path Planning in Dynamic Environments

The motion planning problem for mobile robots is typically formulated as follows: given a robot and a description of an environment, plan a path of the robot between two specified locations, which is collision-free and satisfies certain optimization criteria. Traditionally there are two approaches to the problem: Off-line planning, which assumes perfectly known and stable environment, and on-li...

Path Planning in Dynamic Environments

The Z Method for Fast Path Planning in Dynamic Environments

We present a method to plan collision free paths for robots with any number of degrees of freedom in dynamic environments The method proved to be very e cient as it ommits a complete representation of the high di mensional search space Its complexity is linear in the number of degrees of freedom A preprocessing of the geometry data of the robot or the environment is not re quired With the time ...

On-line Path Planning for Mobile Robots in Dynamic Environments

Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...

Elliptic net - a path planning algorithm for dynamic environments

Robot path planning and obstacle avoidance problems play an important role in mobile robotics. The standard algorithms assume that a working environment is static or changing slowly. Moreover, computation time and time needed for realization of the planned path is usually not crucial. The paper describes a novel algorithm that is focused especially to deal with these two issues: the presented a...