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Multi-resolution H-cost motion planning: A new framework for hierarchical motion planning for autonomous mobile vehicles

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2 Author(s)
Raghvendra V. Cowlagi ; School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, USA ; Panagiotis Tsiotras

This paper summarizes some recent developments on a new motion planning framework for autonomous vehicles. The main novelties of the current work include: a provably complete multi-resolution path planning scheme using wavelet-based workspace cell decompositions; a general technique for incorporating vehicle dynamic constraints in the geometric path planner; and a local trajectory generation scheme based on model predictive control.

Published in:

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

25-30 Sept. 2011