Title: Adaptive State � Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
Publisher: KIT Scientific Publishing
Publication Date: 2017
Language: English
ISBN 10: 3731505800
ISBN 13: 9783731505808
Binding: Paperback
Condition: Brand New
Weight: 0.45 kilograms

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Synopsis

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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