The Corridor Map Method: Real-Time High-Quality Path Planning

@article{Geraerts2007TheCM,
  title={The Corridor Map Method: Real-Time High-Quality Path Planning},
  author={Roland Geraerts and Mark H. Overmars},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={1023-1028}
}
A central problem in robotics is planning a collision-free path for a moving object in an environment with obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and flexible (to avoid local hazards). In addition, paths need to be smooth and short. We propose a new framework, the corridor map method, which meets these requirements. 
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