On line reactive planning for a nonholonomic mobile in a dynamic world

The problem of planning and controlling the motion of a car-like moving object in a dynamic and roadway-like environment is addressed. A motion controller that executes in a reactive way a given nominal motion plan is presented. Data concerning the actual environment of the vehicle considered are assumed to be obtained through perception. In order to get the required reactivity, a motion controller is developed which has two main components: the pilot which analyzes the current situation and adapts the nominal plan accordingly, and the executor which generates the required motion commands. The pilot operates at a symbolic level using a set of behavioral rules. The executor makes use of a potential field approach to generate the motion commands