Robust, compact representations for real-time path planning in changing environments

Peter Leven, Seth Andrew Hutchinson

Research output: Contribution to conferencePaperpeer-review

Abstract

We have previously developed a new method for generating collision-free paths for robots operating in changing environments. Our approach relies on creating a representation of the configuration space that can be easily modified in real time to account for changes in the environment. In this paper we address the issues of efficiency and robustness. First, we develop a novel, efficient encoding scheme that exploits the redundancy in the map from robot's Euclidean workspace to its configuration space. Then, we introduce the concept of ε-robustness, and show how it can be used to enhance the representations that are used by the planner. Along the way, we present quantitative results that illustrate the efficiency and robustness of our approach.

Original languageEnglish (US)
Pages1483-1490
Number of pages8
StatePublished - Dec 1 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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