Search-Based Online Trajectory Planning for Car-like Robots in Highly Dynamic Environments

Jiahui Lin,Tong Zhou,Delong Zhu,Jianbang Liu,Max Q. -H. Meng

2021 IEEE International Conference on Robotics and Automation (ICRA)（2021）

引用 7|浏览20

暂无评分

摘要

This paper presents a search-based partial motion planner for generating feasible trajectories of car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives. To enable fast online planning, we propose an efficient path searching algorithm based on the aggregation and pruning of moti...

查看译文

关键词

Trajectory planning,Heuristic algorithms,Conferences,Dynamics,Aerospace electronics,Trajectory,Space exploration

AI 理解论文

溯源树

样例

生成溯源树，研究论文发展脉络

Chat Paper

正在生成论文摘要