Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics

In the dynamical systems approach to robot path planning both sensed and remembered information contribute to shape a nonlinear vector eld that governs the behavior of an autonomous agent. Such systems perform well with partial knowledge of the environment and in dynamically changing environments. Nevertheless, it is a local heuristic approach to path planning, and it is not guaranteed to nd existing paths. We describe a method of adjusting the spatial resolution of the planner using a dynamical system that operates at a faster time scale than the planning dynamics. This improves the system's ability to utilize both sensed and remembered information, and to solve a larger range of problems without resorting to global path planning.

• Type: Conference
• Year: 1997
• Where: IJCAI
• Authors: Edward W. Large, Henrik I. Christensen, Ruzena Bajcsy
• Keywords: Dynamical System, IJCAI 1997, IJCAI 2007, Nonlinear Vector Eld, Path Planning