Motion Planning in Dynamic Environments

   

Motion planning in a dynamic environment involves, solving both the path planning and velocity planning problems simultaneously, hence a difficult proposition. It is a combination of a kinematic problem of path planning and a dynamic problem which takes into consideration the robot dynamics, and the various differential constrains. Problems related to computational complexity and non availability of a solution exists in relation to dynamic environments for motion planning.

Steven M. LaValle, University of Illinois, provides a 4 part lecture series on, "Motion Planning in Dynamic Environments"

Part 1: Living in C-Space

Part 2: Motion Planning - Finding the Path

Part 3: Dynamic Environments - Modeling Issues

Part 4: Dynamic Environments - Methods

The slides for the lecture are found here.