Constraint-Aware Navigation in Dynamic Environments

摘要: Path planning is a fundamental problem in many areas ranging from robotics and artificial intelligence to computer graphics animation. While there extensive literature for computing optimal, collision-free paths, little work that explores the satisfaction of spatial constraints between objects agents at global navigation layer. This paper presents framework satisfies multiple imposed on path. The type specified could include staying behind building, walking along walls, or avoiding line sight patrolling agents. We introduce hybrid environment representation balances computational efficiency discretization resolution, provide minimal, yet sufficient search graph constraint-aware navigation. An extended anytime-dynamic planner used compute while efficiently repairing solutions account dynamic constraints. demonstrate benefits our method challenging problems complex environments using combinations hard soft constraints, attracting repelling static obstacles moving obstacles.