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

Robotics;Systems and Control;Systems and Control