Model-Predictive Motion Planning: Several Key Developments for Autonomous Mobile Robots

@article{Howard2014ModelPredictiveMP,
  title={Model-Predictive Motion Planning: Several Key Developments for Autonomous Mobile Robots},
  author={Thomas M. Howard and Mihail Pivtoraiko and Ross A. Knepper and Alonzo Kelly},
  journal={IEEE Robotics & Automation Magazine},
  year={2014},
  volume={21},
  pages={64-73}
}
A necessary attribute of a mobile robot planning algorithm is the ability to accurately predict the consequences of robot actions to make informed decisions about where and how to drive. It is also important that such methods are efficient, as onboard computational resources are typically limited and fast planning rates are often required. In this article, we present several practical mobile robot motion planning algorithms for local and global search, developed with a common underlying… CONTINUE READING
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