MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning
Salman Bari Volker Gabler Dirk Wollherr Salman Bari Volker Gabler Dirk Wollherr
Gaussian Process (GP) formulation of continuous-time trajectory offers a fast solution to the motion planning problem via probabilistic inference on factor graph. However, often the solution converges to in-feasible local minima and the planned trajectory is not collision-free. We propose a message passing algorithm that is more sensitive to obstacles with fast convergence time. We leverage the ut...