A fast path planner for a car-like indoor mobile robot
作者： Jean-Claude Latombe
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摘要: A car-like indoor mobile robot is a kinematically constrained that can be modelled as 2D object translating and rotating in the horizontal plane among well-defined obstacles. The kinematic constraints impose linear velocity of point along its main axis (no sidewise motion possible) restrict range admissible values for steering angle. In this paperl we describe fast path planner such robot. This one to two orders magnitude faster than previously implemented planners same type addition, it has an anytime flavor allows return short amount time, improve through iterative optimization according time devoted planning. essentially combination preexisting ideas. Its efficiency derives from good match between these ideas various technical improvements brought them.
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