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Adaptive State × Time Lattices: A contribution to mobile robot motion planning in unstructured dynamic environments

: Petereit, Janko
: Beyerer, Jürgen

Fulltext urn:nbn:de:0072-586934 (6.2 MByte PDF)
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Created on: 4.4.2017

Karlsruhe: KIT Scientific Publishing, 2017, XXV, 241 pp.
Zugl.: Karlsruhe, Inst. für Technologie (KIT), Diss., 2016
Karlsruher Schriften zur Anthropomatik, 27
ISBN: 978-3-7315-0580-8
Dissertation, Electronic Publication
Fraunhofer IOSB ()

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.