Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state × time lattices with variable dimensionality and multiple resolutions. The adaptive planning method makes it possible to rapidly plan local maneuvers while still pursuing global optimality.
Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state × time lattices with variable dimensionality and multiple resolutions. The adaptive planning method makes it possible to rapidly plan local maneuvers while still pursuing global optimality.
| Autor: | Petereit, Janko |
|---|---|
| ISBN: | 9783731505808 |
| Sprache: | Englisch |
| Seitenzahl: | 284 |
| Produktart: | Kartoniert / Broschiert |
| Verlag: | KIT Scientific Publishing |
| Veröffentlicht: | 20.01.2017 |
| Schlagworte: | Bewegungsplanung Hindernisvermeidung Mobile Roboter Mobile robots Pfadplanung autonomes Fahren autonomous driving motion planning obstacle avoidance path planning |