On the design of deformable input- / state-lattice graphs

摘要: In this paper we describe a novel and simple to implement yet effective lattice design algorithm, which simultaneously produces input state-space sampled graphs. The presented method is an extension the ideas suggested by Bicchi et al. on lattices applicable systems can be brought into (2,n) chained form, such as kinematic models of unicycles, bicycles, differential-drive robots car-like vehicles (pulling several trailers). We further show that transformation from form path coordinates allows resulting bent along any C1 continuous path. exploit fact shaping it skeleton arbitrary structured environments, center road lanes corridors. our experiments in both (i.e. on-road) unstructured parking lot) scenarios, successfully demonstrate for first time applicability lattice-based planning approaches search queries environments.