Smooth path planning in constrained environments

@article{Rufli2009SmoothPP,
  title={Smooth path planning in constrained environments},
  author={Martin Rufli and Dave Ferguson and Roland Siegwart},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={3780-3785}
}
In this paper we describe a novel path planning approach for mobile robots operating in indoor environments. In such scenarios, robots must be able to maneuver in crowded spaces, partially filled with static and dynamic obstacles (such as people). Our approach produces smooth, complex maneuvers over large distances through the use of an anytime graph search algorithm applied to a novel multi-resolution state lattice, where the resolution is adapted based on both environmental characteristics… CONTINUE READING
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