Anytime informed path re-planning and optimization for robots in\n changing environments

2021/03/24 by Cesare Tonola, Marco Faroni, Tonola, Cesare +5
Computer Science · Engineering · #FOS: Computer and information sciences #Guidance and Control Systems #Optimization and Search Problems #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization

paper · pdf · doi:10.48550/arxiv.2103.13245

openalex publication_date 2021/03/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In this paper, we propose a path re-planning algorithm that makes robots able\nto work in scenarios with moving obstacles. The algorithm switches between a\nset of pre-computed paths to avoid collisions with moving obstacles. It also\nimproves the current path in an anytime fashion. The use of informed sampling\nenhances the search speed. Numerical results show the effectiveness of the\nstrategy in different simulation scenarios.\n

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