Motion Planning using Kinodynamically Feasible Motion Primitives
Peiyi Chen
Broschiertes Buch

Motion Planning using Kinodynamically Feasible Motion Primitives

An Online Algorithm for Navigating through Unknown 3D Environments

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Autonomous unmanned vehicles require the ability to maneuver within their environments safely and efficiently. The problem of generating these traversable, collision-free paths is known as motion planning. While much work has been done in this field, the majority of the existing motion planning algorithms either fail to consider the kinodynamic constraints of the vehicle or is too computationally intensive to be performed online. The presented motion planning algorithm mitigates these issues by using kinodynamically feasible motion primitives to enforce vehicle constraints, while exploiting th...