Corpus ID: 220936550

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments

@inproceedings{Finean2021PredictedCS,
  title={Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments},
  author={M. N. Finean and Wolfgang Merkt and I. Havoutis},
  booktitle={ICAPS},
  year={2021}
}
We present a novel framework for motion planning in dynamic environments that accounts for the predicted trajectories of moving objects in the scene. We explore the use of composite signed-distance fields in motion planning and detail how they can be used to generate signed-distance fields (SDFs) in real-time to incorporate predicted obstacle motions. We benchmark our approach of using composite SDFs against performing exact SDF calculations on the workspace occupancy grid. Our proposed… Expand

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