Safe navigation for mobile robots in unstructured and dynamic environments is still a challenging research topic. Most approaches use separate algorithms for global path planning and local obstacle avoidance. However, this generally results in globally sub-optimal navigation strategies. In this paper, we present an algorithm which combines these two navigation tasks in a single integrated approach. For this purpose, we introduce a novel search space, namely, a state × time lattice with hybrid dimensionality. We describe a procedure for generating high-quality motion primitives for a mobile robot with four-wheel steering to define the motion in this lattice. Our algorithm computes a hybrid solution for the path planning problem consisting of a trajectory (i.e., a path with time component) in the imminent future, a dynamically feasible path in the near future, and a kinematically feasible path for the remaining time to the goal. Finally, we provide some results of our algorithm in action to prove its high solution quality and real-time capability.
CITATION STYLE
Petereit, J., Emter, T., & Frey, C. W. (2014). Combined trajectory generation and path planning for mobile robots using lattices with hybrid dimensionality. In Advances in Intelligent Systems and Computing (Vol. 274, pp. 145–157). Springer Verlag. https://doi.org/10.1007/978-3-319-05582-4_14
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