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

Janko Petereit (Autor)

Buch | Softcover

284 Seiten

2017
KIT Scientific Publishing (Verlag)
978-3-7315-0580-8 (ISBN)

Infos

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.

Produkt-Details

• Erscheinungsdatum: 24.01.2017
• Reihe/Serie: Karlsruher Schriften zur Anthropomatik ; 27
• Zusatzinfo: graph. Darst.
• Sprache: englisch
• Maße: 148 x 210 mm
• Gewicht: 520 g
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Schlagworte: Autonomes Fahren • Autonomous Driving • Bewegungsplanung • Elektronik, Nachrichtentechnik • Hindernisvermeidung • mobile Roboter • Mobile Robots • Motion Planning • Nachrichtentechnik • Obstacle Avoidance • Path Planning • Pfadplanung
• ISBN-10: 3-7315-0580-0 / 3731505800
• ISBN-13: 978-3-7315-0580-8 / 9783731505808
• Zustand: Neuware