Reactive motion planning in a dynamic world

Deals with the problem of planning and controlling the motion of a car like vehicle moving in a dynamic and roadway like environment. A motion controller is presented which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type ´reach location l at time t/sub l/´. Data concerning the actual environment of the vehicle considered are assumed to be obtained through perception. In order to get the required reactivity, the authors have developed a motion controller with two main components: the pilot which analyses 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 behavioural rules. The executor makes use of a potential field approach to generate the motion commands.<>