Real-Time Robot Path Planning via the Distance-Propagating Dynamic System with Obstacle Clearance
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Abstract
An efficient grid-based distance-propagating dynamic system is proposed
for real-time robot path planning in dynamic environments
which incorporates safety margins around obstacles using local penalty functions.
The path through which the robot travels minimizes the sum of the
current known distance to a target and the cumulative local penalty
functions along the path.
The algorithm is similar to \tsup{D}{