Detailansicht
Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments
ISBN/EAN: 9783731505808
Umbreit-Nr.: 1210923
Sprache:
Englisch
Umfang: 284 S., 47 farbige Illustr.
Format in cm: 1.8 x 21 x 14.8
Einband:
kartoniertes Buch
Erschienen am 23.01.2017
Auflage: 1/2017
- Zusatztext
- 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.