Path Planning for Robotic Manipulators in Dynamic Environments Using Distance Information
Nermin Covic,Bakir Lacevic,Dinko Osmankovic,Nermin Covic,Bakir Lacevic,Dinko Osmankovic
In this paper, we present a novel algorithm – DRGBT (Dynamic Rapidly-exploring Generalized Bur Tree), intended for motion planning in dynamic environments. The main idea behind DRGBT lies in a so-called adaptive horizon, consisting of a set of prospective target nodes that belong to a predefined $\mathcal{C}$-space path, which originates from the current node. Each node is assigned a weight that d...
