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Combined trajectory generation and path planning for mobile robots using lattices with hybrid dimensionality

: Petereit, Janko; Emter, Thomas; Frey, Christian W.

Postprint urn:nbn:de:0011-n-2869386 (350 KByte PDF)
MD5 Fingerprint: 900c4bc88569a4c98bb2a8cbf02d262e
The original publication is available at
Erstellt am: 15.12.2014

Kim, J.-H.:
Robot Intelligence Technology and Applications 2 : Results from the 2nd International Conference on Robot Intelligence Technology and Applications; Denver, USA, December 18-20, 2013
Cham: Springer International Publishing, 2014 (Advances in Intelligent Systems and Computing 274)
ISBN: 978-3-319-05581-7 (Print)
ISBN: 978-3-319-05582-4 (Online)
International Conference on Robot Intelligence Technology and Applications (RITA) <2, 2013, Denver/Colo.>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
mobile robot motion planning; hybrid-dimensional planning; state lattice planner

Safe navigation for mobile robots in unstructured and dynamic environments is still a challenging research topic. Most approaches use separate algorithms for global path planning and local obstacle avoidance. However, this generally results in globally sub-optimal navigation strategies. In this paper, we present an algorithm which combines these two navigation tasks in a single integrated approach. For this purpose, we introduce a novel search space, namely, a state×time lattice with hybrid dimensionality. We describe a procedure for generating high-quality motion primitives for a mobile robot with four-wheel steering to define the motion in this lattice. Our algorithm computes a hybrid solution for the path planning problem consisting of a trajectory (i.e., a path with time component) in the imminent future, a dynamically feasible path in the near future, and a kinematically feasible path for the remaining time to the goal. Finally, we provide some results of our algorithm in action to prove its high solution quality and real-time capability.