Dynamic Path Planning Around Moving Obstacles by Collaborating Robots for Space Exploration
Baras, John, S.
Date: September 19 - September 21, 2006
We investigate dynamic control of collaborating robots by integrating methodologies from path planning and dynamic prediction of moving obstacles. Predicting for a finite horizon, instead of one step ahead, provides far better results. Efficient distributed algorithms are implemented and demonstrated via simulations. A combination of optimization and logic is needed for best performance and efficiency.