Efficient constrained path planning via search in state lattices

Mikhail Pivtoraiko and Alonzo Kelly
The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.


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Abstract
We propose a novel approach to constrained path planning that is based on a special search space which efficiently encodes feasible paths. The paths are encoded implicitly as connections between states, but only feasible and local connections are included. Once this search space is developed, we systematically generate a near-minimal set of spatially distinct path primitives. This set expresses the local connectivity of constrained motions and also eliminates redundancies. The set of primitives is used to define heuristic search, and thereby create a very efficient path planner at the chosen resolution. We also discuss a wide variety of space and terrestrial robotics applications where this motion planner can be especially useful.

Keywords
constrained path planning, planetary rover, rough terrain

Notes
Associated Project(s): Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers
Number of pages: 7

Text Reference
Mikhail Pivtoraiko and Alonzo Kelly, "Efficient constrained path planning via search in state lattices," The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.

BibTeX Reference
@inproceedings{Pivtoraiko_2005_6455,
   author = "Mikhail Pivtoraiko and Alonzo Kelly",
   title = "Efficient constrained path planning via search in state lattices",
   booktitle = "The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space",
   month = "September",
   year = "2005",
}