Anytime Path Planning and Replanning in Dynamic Environments

Jur van den Berg, David Ferguson and James Kuffner
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2366 - 2371, May, 2006

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We present an efficient, anytime method for path planning in dynamic environments. Current approaches to planning in such domains either assume that the environment is static and replan when changes are observed, or assume that the dynamics of the environment are perfectly known a priori. Our approach takes into account all prior information about both the static and dynamic elements of the environment, and efficiently updates the solution when changes to either are observed. As a result, it is well suited to robotic path planning in known or unknown environments in which there are mobile objects, agents or adversaries.

author = {Jur van den Berg and David Ferguson and James Kuffner},
title = {Anytime Path Planning and Replanning in Dynamic Environments},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2006},
month = {May},
pages = {2366 - 2371},
} 2017-09-13T10:42:49-04:00