LTA: Local tangent based A for optimal path planning

Optimal path planning on non-convex maps is challenging: sampling-based algorithms (such as RRT) do not provide optimal solution in finite time; approaches based on visibility graphs are computationally expensive, while reduced visibility graphs (e.g., tangent graph) fail on such maps. We leverage a...

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Veröffentlicht in:	Autonomous robots 2021-02, Vol.45 (2), p.209-227
Hauptverfasser:	Zafar, Muhammad Mateen, Anjum, Muhammad Latif, Hussain, Wajahat
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Artificial Intelligence Computer Imaging Control Convergence Corner detection Corners Decomposition Engineering Graphs Mechatronics Nodes Occupancy Optimization Path planning Pattern Recognition and Graphics Robotics Robotics and Automation Visibility Vision
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