DIFFERENTIAL BUDDING: METHOD AND APPARATUS FOR PATH PLANNING WITH MOVING OBSTACLES AND GOALS

摘要

a path planning method has been developed after changes in a workspace. In an embodiment, applying the method for planning a path for a robot arm. Said method identifies zones in the configuration space which is affected by the changes occurring in working space. One can calculate the repropagating cost waves in these affected areas to allow the planning in N dimensions, using a metric spatially varying. The method is also used in the presence of ghosts obstacles.