Adaptive State x Time Lattices A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments

[bookbb 0]

Janko Petereit, "Adaptive State x Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments"
English | ISBN: 3731505800 | 2017 | 284 pages | PDF | 6 MB
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 x 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.


Download Links

Ukryta Zawartość

Treść widoczna tylko dla użytkowników forum DarkSiders. Zaloguj się lub załóż darmowe konto na forum aby uzyskać dostęp bez limitów.