Search-Based Online Trajectory Planning for Car-like Robots in Highly Dynamic Environments
Jiahui Lin Tong Zhou Delong Zhu Jianbang Liu Max Q.-H. Meng Jiahui Lin Tong Zhou Delong Zhu Jianbang Liu Max Q.-H. Meng
This paper presents a search-based partial motion planner for generating feasible trajectories of car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives. To enable fast online planning, we propose an efficient path searching algorithm based on the aggregation and pruning of moti...