Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments

2007 ◽  
pp. 135-148 ◽  
Author(s):  
Roland Philippsen ◽  
Björn Jensen ◽  
Roland Siegwart
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environments

scholarly journals Robot Path Planning using Dynamic Programming with Accelerating Nodes

2012 ◽  
Vol 3 (1) ◽  
Author(s):  
Rahul Kala ◽  
Anupam Shukla ◽  
Ritu Tiwari
Keyword(s):  
Dynamic Programming ◽  
Path Planning ◽  
Real Time ◽  
Dynamic Environments ◽  
Experimental Results ◽  
Robot Path Planning ◽  
Optimal Paths ◽  
Additional Processing ◽  
Update Frequency ◽  
Robot Path

AbstractWe solve the problem of robot path planning using Dynamic Programming (DP) designed to perform well in case of a sudden path blockage. A conventional DP algorithm works well for real time scenarios only when the update frequency is high i.e. changes can be readily propagated. In case updates are costly, for a sudden blockage the robot continues moving along the wrong path or stands stationary. We propose a modified DP that has nodes with additional processing (called accelerating nodes) to enable different segments of the map to become informed about the blockage rapidly. We further quickly compute an alternative path in case of a blockage. Experimental results verify that usage of accelerating nodes makes the robot follow optimal paths in dynamic environments.

scholarly journals Real-time path planning in dynamic environments for unmanned aerial vehicles using the curve-shortening flow method

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142096868
Author(s):  
Marcel Huptych ◽  
Sascha Röck
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Time Integration ◽  
Dynamic Environments ◽  
Implicit Time ◽  
Industrial Control ◽  
Curve Shortening Flow ◽  
Flow Method ◽  
Time Path ◽  
Curve Shortening

This article proposes a new algorithm for real-time path planning in dynamic environments based on space-discretized curve-shortening flows. The so-called curve-shortening flow method shares working principles with the well-established elastic bands method and overcomes some of its drawbacks concerning numerical robustness and parameterability. This is achieved by efficiently applying semi-implicit time integration for evolving the path and secondly by developing a methodology for setting the algorithm’s parameters based on physical quantities. Different short- and long-term validation scenarios are performed with three interlinked instances of the curve-shortening flow method each running on an individual industrial control and driving a real or a simulated unmanned aerial vehicle.

scholarly journals Real-time path planning for virtual agents in dynamic environments

2008 ◽  
Author(s):  
Avneesh Sud ◽  
Erik Andersen ◽  
Sean Curtis ◽  
Ming Lin ◽  
Dinesh Manocha
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environments ◽  
Virtual Agents ◽  
Time Path

scholarly journals Real-time Path Planning for Virtual Agents in Dynamic Environments

2007 ◽  
Author(s):  
Avneesh Sud ◽  
Erik Andersen ◽  
Sean Curtis ◽  
Ming Lin ◽  
Dinesh Manocha
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environments ◽  
Virtual Agents ◽  
Time Path

On-Line Centralized Path Planning of Multiple Mobile Robots in Dynamic Environments

2012 ◽  
Vol 155-156 ◽  
pp. 1074-1079
Author(s):  
Zi Hui Zhang ◽  
Yue Shan Xiong
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Real Time ◽  
Dynamic Environments ◽  
Characteristic Line ◽  
Multiple Mobile Robots ◽  
Time Performance ◽  
Planning Algorithm ◽  
On Line ◽  
Path Planning Algorithm

To study the path planning problem of multiple mobile robots in dynamic environments, an on-line centralized path planning algorithm is proposed. It is difficult to obtain real-time performance for path planning of multiple robots in dynamic environment. The harmonic potential field for multiple mobile robots is built by using the panel method known in fluid mechanics, which represents the outward normal velocity of each line of a polygonal obstacle as a function of the length of its characteristic line. The simulation results indicate that it is a simple, efficient and effective path planning algorithm for multiple mobile robots in the dynamic environments that the geometries and trajectories of obstacles are known in advance, and can achieve real-time performance.

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