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Elastic Bands: Connecting Path Planning and Control

Authors: Sean Quinlan, Oussama Khatib

Published: 1993 (Conference Paper)

Source: IEEE International Conference on Robotics and Automation (ICRA)

Algorithm: Elastic bands

DOI: 10.1109/ROBOT.1993.291936

Summary

Introduces elastic bands as a path-deformation layer between global planning and reactive control. It is an early and influential way to keep a global plan while continuously smoothing and reshaping it around local sensor updates.

Abstract

Elastic bands are proposed as the basis for a framework to close the gap between global path planning and real-time sensor-based robot control. An elastic band is a deformable collision-free path. The initial shape of the elastic is the free path generated by a planner. Subjected to artificial forces, the elastic band deforms in real time to a short and smooth path that maintains clearance from the obstacles. The elastic continues to deform as changes in the environment are detected by sensors, enabling the robot to accommodate uncertainties and react to unexpected and moving obstacles. While providing a tight connection between the robot and its environment, the elastic band preserves the global nature of the planned path. The framework is outlined, and an efficient implementation based on bubbles is discussed.

Primary

Paper khatib.stanford.edu

Standard

DOI 10.1109/ROBOT.1993.291936

Alternate

research.google research.google

Tags

  • Elastic bands

  • Path planning

  • Path smoothing

  • Reactive control

  • Obstacle avoidance

  • Mobile robots