Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Motion planning for carlike robots using a probabilistic learning approach
International Journal of Robotics Research
Motion Planning for Car-Like Robots Using Lazy Probabilistic Roadmap Method
MICAI '02 Proceedings of the Second Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Hi-index | 0.00 |
This work describes a reactive lazy PRM planner, that integrates the lazy PRM planning approach and the reactive control, using a DVZ (Deformable Virtual Zone). The lazy PRM approach calculates a collision-free and feasible path for the mobile robot before it starts moving under the permanent protection of its DVZ. In the absence of dynamic obstacles, the control is performed by the lazy PRM approach and does not require reflex commands. In the presence of dynamic obstacles in its path, the reactive approach takes the control and generates commands to move the robot away from the intruder obstacles before forcing its DVZ to go back to the original state. Experimental results show the effectiveness of the planner proposed here.