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

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Free Download 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.


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