Abstract
We present a reactive method for online robot motion replanning in dynamically changing environments by combining path replanning and deformation. Path deformation is integrated in a replanning method featured by parallel planning and execution. The proposed reactive planner can handle dynamic environments including continuously moving obstacles by smoothly deforming the path during execution. If the collisions cannot be removed by path deformation, alternative paths can be replanned efficiently by using continuously updated roadmaps. Simulation results are shown to validate the effectiveness of the proposed method.
