Abstract A central problem in robotics is planning a collision-free path for a moving object in an environment with obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and flexible (to avoid local hazards). In addition, paths need to be smooth and short. We propose a new framework, the Corridor Map Method, which meets these requirements. Reference Roland Geraerts and Mark Overmars. The Corridor Map Method: Real-Time High-Quality Path Planning. In IEEE International Conference on Robotics and Automation (ICRA'07), 2007, pp. 1023-1028. Full text: [pdf, ps.gz] Presentation: [ppt]         High-quality corridor map     Corridor     Path NB. The errors in the formula in section IIIA of the original ICRA'07 paper have been corrected in the version above. The extended version of this paper can be found here. The Corridor Map Method enables the extraction of high-quality paths within 1 ms cpu time per second traversed time of the path. We used the two test environments depictured below. Click on a picture to see the corresponding animation in VRML. You need to have a VRML-client installed to view the animations. Due to a small bug (feature), you may need to decrease the height of the window to view the 'play' button that triggers the animation. Smooth path Short path Path avoiding dynamic obstacles