A Reactive Lazy PRM Approach for Nonholonomic Motion Planning

  • Abraham Sánchez
  • Rodrigo Cuautle
  • René Zapata
  • Maria Osorio
Conference paper

DOI: 10.1007/11874850_58

Part of the Lecture Notes in Computer Science book series (LNCS, volume 4140)
Cite this paper as:
Sánchez A., Cuautle R., Zapata R., Osorio M. (2006) A Reactive Lazy PRM Approach for Nonholonomic Motion Planning. In: Sichman J.S., Coelho H., Rezende S.O. (eds) Advances in Artificial Intelligence - IBERAMIA-SBIA 2006. Lecture Notes in Computer Science, vol 4140. Springer, Berlin, Heidelberg

Abstract

This work describes a reactive lazy PRM planner, that integrates the lazy PRM planning approach and the reactive control, using a DVZ (Deformable Virtual Zone). The lazy PRM approach calculates a collision-free and feasible path for the mobile robot before it starts moving under the permanent protection of its DVZ. In the absence of dynamic obstacles, the control is performed by the lazy PRM approach and does not require reflex commands. In the presence of dynamic obstacles in its path, the reactive approach takes the control and generates commands to move the robot away from the intruder obstacles before forcing its DVZ to go back to the original state. Experimental results show the effectiveness of the planner proposed here.

Keywords

Nonholonomic motion planning deformable virtual zone lazy PRM 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Abraham Sánchez
    • 1
  • Rodrigo Cuautle
    • 1
  • René Zapata
    • 2
  • Maria Osorio
    • 1
  1. 1.Facultad de Ciencias de la ComputaciónBUAPPuebla, Pue.México
  2. 2.LIRMM, UMR5506 CNRSMontpellierFrance

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