Fast Replanning in Partially Known Environments
Fast Replanning in Partially Known Environments
This project deals with the integration of the D*-Lite algorithm into MissionLab and finding
appropriate ways of fusing planning and reactive behaviors. The robot switches intelligently between three modes - 1) a purely reactive mode 2) a plan-guided reaction mode where the planner sets waypoints and 3) a purely deliberative mode.
Snapshots of a Nomad robot navigating a maze in the experiments we conducted to validate D*-Lite are shown above. A short video of the same experiment is available here (.avi 3.2M).
Publications
•A Reactive Robot Architecture with Planning on Demand
Ananth Ranganathan and Sven Koenig, IROS 2003