Instant prediction for reactive motions with planning
Hisashi Sugiura, Herbert Janben, Christian Goerick · 2009
Reactive control and planning are complementary methods in robot motion control. The advantage of planning is the ability to find difficult solutions, optimize trajectories globally and not getting stuck in local minima but at higher computational cost. On the other hand, reactive control can handle dynamic or uncertain environments at low computational cost, but may get stuck in local minima.