Planning collision-free trajectories in time-varying environments: a two-level hierarchy
- 6 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 18 (5) , 1644-1649
- https://doi.org/10.1109/robot.1988.12302
Abstract
Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a geometric planner that provides a coarse trajectory (the path and the velocity along it), which may be modified by a (low-level) local avoidance module if sensors detect obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementarity between global trajectory planning and local obstacle avoidanceKeywords
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