{"type":"ScholarlyArticle","title":"Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics","authors":[{"name":"Edward W. Large","slug":"edward-w-large","given":"Edward W.","family":"Large","affiliation":""},{"name":"Henrik I. Christensen","slug":"henrik-i-christensen","given":"Henrik I.","family":"Christensen","affiliation":""},{"name":"Ruzena Bajcsy","slug":"ruzena-bajcsy","given":"Ruzena","family":"Bajcsy","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/1997/196","pdf":"https://ijcai.org/proceedings/1997/0196.pdf","markdown":"https://ijcai.org/proceedings/1997/196.md","bibtex":"https://ijcai.org/proceedings/1997/bibtex/196","volume":{"slug":"1997","title":"Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1997","url":"https://ijcai.org/proceedings/1997/","year":1997,"location":"Nagoya, Japan","dates":"","editors":"Martha E. Pollack","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":196,"pages":{"first":1360,"last":1364},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}