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Document type:
Konferenzbeitrag 
Author(s):
Chen, Chao; Rickert, Markus; Knoll, Alois 
Title:
Kinodynamic Motion Planning with Space-Time Exploration Guided Heuristic Search for Car-Like Robots in Dynamic Environments 
Abstract:
The Space Exploration Guided Heuristic Search (SEHS) method solves the motion planning problem, especially for car-like robots, in two steps: a circle-based space exploration in the workspace followed by a circle-guided heuristic search in the configuration space. This paper extends this approach for kinodynamic planning in dynamic environments by performing the exploration in both space and time domains. Thus, a time-dependent heuristic is constructed to guide the search algorithm applying a ki...    »
 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2015 
Month:
Sep 
Pages:
2666--2671