Real-time trajectory generation techniques are being developed to accomodate various types of constraints while being computed ``on the fly''. A path transition generation technique tolerant to path segments that are changing dynamically in response to sensor inputs has been developed. Several ``knob'' parameters can be used to adjust the shape of the transition, both in time and space, in order to satisfy dynamic and spatial constraints. These trajectories are decomposed into several portions which are blended together to yield a final trajectory with minimum look-ahead information.
J.E. Lloyd, V. Hayward