Title:
A Reactive Robot Architecture With Planning on Demand
A Reactive Robot Architecture With Planning on Demand
Author(s)
Koenig, Sven
Ranganathan, Ananth
Ranganathan, Ananth
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Abstract
In this paper, we describe a reactive robot
architecture that uses fast re-planning methods to avoid
the shortcomings of reactive navigation, such as getting
stuck in box canyons or in front of small openings.
Our robot architecture differs from others in that it
gives planning progressively greater control of the robot
if reactive navigation continues to fail, until planning
controls the robot directly. Our first experiments on a
Nomad robot and in simulation demonstrate that our
robot architecture promises to simplify the programming
of reactive robot architectures greatly and results in
robust navigation, smooth trajectories, and reasonably
good navigation performance.
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Date Issued
2003
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Text
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Paper