Adaptive State

• Main Author: Petereit, Janko (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2016
• Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
• Subjects: obstacle avoidance; Pfadplanung; motion planning; autonomes Fahren; HindernisvermeidungMobile robots; path planning; Mobile Roboter; Bewegungsplanung; autonomous driving
• Online Access: DOAB: download the publication; DOAB: description of the publication

Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state