Fast Path Computation using Lattices in the Sensor-Space for Forest Navigation
Bernardo Martinez R. Junior Guilherme A. S. Pereira Bernardo Martinez R. Junior Guilherme A. S. Pereira
Fast autonomous motion in cluttered and unknown environments, such as forests, is highly dependent on low-latency obstacle avoidance strategies. In this context, this paper presents a motion planning strategy that relies on lattices for the fast computation of local paths that both avoid obstacles and follow a vector field that encodes the global robot task. Lattices are constructed in the sensor ...