Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics
Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1360-1364.
Abstract
In the dynamical systems approach to robot path planning both sensed and remembered information contribute to shape a nonlinear vector field 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 find 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.
@inproceedings{ijcai1997p196,
title = {Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics},
author = {Large, Edward W. and Christensen, Henrik I. and Bajcsy, Ruzena},
booktitle = {Proceedings of the Fifteenth International Joint Conference on
Artificial Intelligence, {IJCAI-97}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Martha E. Pollack},
pages = {1360--1364},
year = {1997},
note = {Robotics},
url = {https://ijcai.org/proceedings/1997/196},
}
TY - CPAPER TI - Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics AU - Large, Edward W. AU - Christensen, Henrik I. AU - Bajcsy, Ruzena T2 - Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, IJCAI-97 PB - International Joint Conferences on Artificial Intelligence PY - 1997 SP - 1360 EP - 1364 UR - https://ijcai.org/proceedings/1997/196 ER -Copied
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