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Janko Petereit

Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments

(Karlsruher Schriften zur Anthropomatik ; 27)

AutorPetereit, Janko

VerlagKIT Scientific Publishing, Karlsruhe

ISBN9783731505808

UmfangXXV, 241 S.

Veröffentlicht
am:
20.01.2017

Erscheinungs-
jahr
2016

VerfügbarkeitAktiv

Downloads:

Für Zitate bitte die folgende URL verwenden:
http://dx.doi.org/10.5445/KSP/1000058693

Abstract

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.