Search-based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices
Daniel Schleich Sven Behnke Daniel Schleich Sven Behnke
Search-based methods that use motion primitives can incorporate the system’s dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is computationally expensive. Local multiresolution is a commonly used method to accelerate spatial path planning. While paths within the vicinity of the robot ar...