Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Reactive robot motion using path replanning and deformation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yoshida, E. ; JRL (Joint Robot. Lab.), AIST, Tsukuba, Japan ; Kanehiro, F.

We present a reactive method for online robot motion replanning in dynamically changing environments by combining path replanning and deformation. Path deformation is newly integrated in our replanning method featured by efficient roadmap reuse and parallel planning and execution. This enhancement allows the planner to deal with more dynamic environments including continuously moving obstacles, by smoothly deforming the path during execution. Simulation results are shown to validate the effectiveness of the proposed method.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011