Abstract Augmented Lazy Theta*: Applying Graph Abstractions to Trajectory Planning with Speed-Limit Constraints
نویسندگان
چکیده
Augmented Lazy Theta*: Applying Graph Abstractions to Trajectory Planning with Speed-Limit Constraints Peter Gregory Digital Futures Institute School of Computing Teesside University, UK [email protected] Lukáš Chrpa PARK research group School of Computing and Engineering University of Huddersfield, UK
منابع مشابه
Applying Graph Abstractions to Trajectory Planning with Speed - Limit Constraints
Augmented Lazy Theta*: Applying Graph Abstractions to Trajectory Planning with Speed-Limit Constraints
متن کاملTowards a Trajectory Planning Concept: Augmenting Path Planning Methods by Considering Speed Limit Constraints
Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concret...
متن کاملTrajectory Planning on Grids: Considering Speed Limit Constraints
Trajectory (path) planning is a well known and thoroughly studied field of automated planning. It is usually used in computer games, robotics or autonomous agent simulations. Grids are often used for regular discretization of continuous space. Many methods exist for trajectory (path) planning on grids, we address the well known A* algorithm and the state-of-the-art Theta* algorithm. Theta* algo...
متن کاملTrajectory Planning in Dynamic Workspaces: a `state-time Space' Approach Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach
| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...
متن کاملTrajectory Planning in a Dynamic Workspace: a `state-time Space' Approach Trajectory Planning in a Dynamic Workspace: a `state-time Space' Approach
| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...
متن کامل