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We present Reshaping Viscoelastic-String Path-Planner a Path Planner thatreshapes a desired Global Plan for a Robotic Vehicle based on sensorobservations of the Environment. We model the path to be a viscoelastic stringwith shape preserving tendencies, approximated by a connected series ofSprings, Masses, and Dampers. The resultant path is then reshaped according tothe forces emanating from the obstacles until an equilibrium is reached. Thereshaped path remains close in shape to the original path because of AnchorPoints that connect to the discrete masses through springs. The final path isthe resultant equilibrium configuration of the Spring-Mass-Damper network. Twokey concepts enable RVP (i) Virtual Obstacle Forces that push theSpring-Mass-Damper system away from the original path and (ii) Anchor points inconjunction with the Spring-Mass-Damper network that attempts to retain thepath shape. We demonstrate the results in simulation and compare it'sperformance with an existing Reshaping Local Planner that also takes a GlobalPlan and reshapes it according to sensor based observations of the environment.

Reshaping Viscoelastic-String Path-Planner (RVP)