Adaptive State × Time Lattices: A contribution to mobile robot motion planning in unstructured dynamic environments
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.
Zugl.: Karlsruhe, Inst. für Technologie (KIT), Diss., 2016