Path planning method for mobile robots in changing environments

This paper is focused on the development of path planning techniques for mobile robots in a workspace with moving objects. More precisely, this work illustrates the use of new global methods for path planning within changing enviroments providing very good results in terms of the quality of the final solutions and the computational cost. The path planning problem has been solved in two different ways. Firstly, a time optimal path planner is presented and, secondly, an on-line version is also given to deal with the problem of adaptation when the enviroment changes. The application of these two approaches to several and suitable situations is also described, showing the reliability of both algorithms. Copyright (C) 1998 IFAC.