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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, pages 1462-1468, Las Vegas, 2003.