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Lifelong Planning for Mobile Robots

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Advances in Plan-Based Control of Robotic Agents

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2466))

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Abstract

Mobile robots often have to replan as their knowledge of the world changes. Lifelong planning is a paradigm that allows them to replan much faster than with complete searches from scratch, yet finds optimal solutions. To demonstrate this paradigm, we apply it to Greedy Mapping, a simple sensor-based planning method that always moves the robot from its current cell to a closest cell with unknown blockage status, until the terrain is mapped. Greedy Mapping has a small mapping time, makes only action recommendations and can thus coexist with other components of a robot architecture that also make action recommendations, and is able to take advantage of prior knowledge of parts of the terrain (if available). We demonstrate how a robot can use our lifelong-planning version of A* to repeatedly determine a shortest path from its current cell to a closest cell with unknown blockage status. Our experimental results demonstrate the advantage of lifelong planning for Greedy Mapping over other search methods. Similar results had so far been established only for goal-directed navigation in unknown terrain.

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Author information

Authors and Affiliations

  1. College of Computing, Georgia Institute of Technology, Atlanta, GA, 30332-0280, USA

    Maxim Likhachev & Sven Koenig

  2. School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Maxim Likhachev

Authors
  1. Maxim Likhachev
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  2. Sven Koenig
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Editor information

Editors and Affiliations

  1. Institut für Informatik IX, Technische Universität München, Orleansstr. 34, 81667, München, Germany

    Michael Beetz

  2. Fraunhofer-Institut, Autonome Intelligente Systeme (AIS), Schloss Birlinghoven, 53754, Sankt Augustin, Germany

    Joachim Hertzberg

  3. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse cedex, France

    Malik Ghallab

  4. College of Engineering Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, 48019, USA

    Martha E. Pollack

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© 2002 Springer-Verlag Berlin Heidelberg

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Likhachev, M., Koenig, S. (2002). Lifelong Planning for Mobile Robots. In: Beetz, M., Hertzberg, J., Ghallab, M., Pollack, M.E. (eds) Advances in Plan-Based Control of Robotic Agents. Lecture Notes in Computer Science(), vol 2466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-37724-7_9

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  • DOI: https://doi.org/10.1007/3-540-37724-7_9

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00168-3

  • Online ISBN: 978-3-540-37724-5

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