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arXiv · 2103.13245

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

Cesare Tonola·Marco Faroni·Nicola Pedrocchi·Manuel Beschi
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Abstract

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

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Cesare Tonola, Marco Faroni, Nicola Pedrocchi, Manuel Beschi. 2021-03-24. Anytime informed path re-planning and optimization for robots in changing environments. https://arxiv.org/abs/2103.13245

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