Omni-drive Robot Motion on Curved Paths: The Fastest Path between Two Points Is Not a Straight-Line
AI '02 Proceedings of the 15th Australian Joint Conference on Artificial Intelligence: Advances in Artificial Intelligence
An Algorithm for Robot Path Planning with Cellular Automata
Proceedings of the Fourth International Conference on Cellular Automata for Research and Industry: Theoretical and Practical Issues on Cellular Automata
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Cognitive concepts in autonomous soccer playing robots
Cognitive Systems Research
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In this work an algorithm is proposed for path planning in a rapidly changing environment. The algorithm is computationally cheap and generates a sub-optimal smooth path with bounds on the allowed velocity, acceleration, and jerk. The algorithm is designed for holonomic omniwheel platforms. It outperforms potential field algorithms regarding both convergence and optimality. Furthermore, it is able to adapt fast in a rapidly changing environment due to the low computational cost in the order of ms for a single update, in contrast with computationally more expensive methods such as wavefront algorithms and global optimization methods, where the computational cost is mostly on the order of seconds. The algorithm will be tested via simulations and experiments.