---
title: "Scaling the Dynamic Approach to Autonomous Path Planning: Planning Horizon Dynamics"
authors:
  - "Edward W. Large"
  - "Henrik I. Christensen"
  - "Ruzena Bajcsy"
doi: ""
url: "https://ijcai.org/proceedings/1997/196"
pdf: "https://ijcai.org/proceedings/1997/0196.pdf"
venue: "Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence"
year: 1997
pages: "1360-1364"
track: "Robotics"
keywords:
---

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

Edward W. Large, Henrik I. Christensen, Ruzena Bajcsy

*Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence*, 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.