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Beschreibung
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.
Details
| Verlag | KIT Scientific Publishing |
| Ersterscheinung | 20. Januar 2017 |
| Maße | 21 cm x 14.8 cm |
| Gewicht | 520 Gramm |
| Format | Softcover |
| ISBN-13 | 9783731505808 |
| Seiten | 284 |
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