Adaptive State ? Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
Language: English
Published by Karlsruher Institut f?r Technologie, 2017
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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. Sprache: Englisch Gewicht in Gramm: 415.
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- Title
- Adaptive State ? Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
- Author
- Janko Petereit
- Publisher
- Karlsruher Institut f?r Technologie
- Publication year
- 2017
- Condition
- Neu
- Binding
- Softcover/Taschenbuch
- Language
- English
- ISBN 10
- 3731505800
- ISBN 13
- 9783731505808
- Item weight
- 415 grams
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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