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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.
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Petereit, J. 2017. Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments. Karlsruhe: KIT Scientific Publishing. DOI: https://doi.org/10.5445/KSP/1000058693
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Veröffentlicht am 20. Januar 2017
Englisch
284
| Paperback | 978-3-7315-0580-8 |