Trajectory planning in dynamic and partiallyknown domains

The two problems of planning trajectories in unpredictable dynamic environment and in partially-known environments are equivalent. In both cases the robot has to adapt its plans continuously to changes in (its knowledge of) the world. In this section we present a dynamic version of the Fast Marching algorithm called DFM and we compare it to A*, FM, FM* and D* Lite algorithms in simulated 2D environments. The DFM based trajectory planning method is eventually tested in a real open water environment using the AUV prototype of the Ocean Systems Laboratory.

Was this article helpful?

0 0
Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

Post a comment