Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
- ISBN-10
- 3731505800
- ISBN-13
- 9783731505808
- Pages
- 284
- Language
- English
- Published
- 2017-01-20
- Publisher
- KIT Scientific Publishing
- Authors
- Petereit, Janko
Description
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.
