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Document type:
Konferenzbeitrag 
Author(s):
Chen, Chao; Rickert, Markus; Knoll, Alois 
Title:
Combining Space Exploration and Heuristic Search in Online Motion Planning for Nonholonomic Vehicles 
Abstract:
This paper presents an efficient motion planning method for nonholonomic vehicles, which combines space exploration and heuristic search to achieve online performance. The space exploration employs simple geometric shapes to investigate the collision-free space for the dimension and topology information. Then, the heuristic search is guided by this knowledge to generate vehicle motions under kinodynamic constraints. The overall performance of this framework greatly benefits from the cooperation...    »
 
Book / Congress title:
Proceedings of the IEEE Intelligent Vehicles Symposium (IV) 
Year:
2013 
Month:
Jun 
Pages:
1307--1312