Informed RRT*: Optimal Incremental Path Planning Focused through an Admissible Ellipsoidal Heuristic.
Jonathan D. GammellSiddhartha S. SrinivasaTimothy D. BarfootPublished in: CoRR (2014)
Keyphrases
- path planning
- optimal path
- mobile robot
- optimal solution
- path planning algorithm
- dynamic programming
- dynamic environments
- collision avoidance
- obstacle avoidance
- multi robot
- dynamic and uncertain environments
- dead ends
- robot path planning
- trajectory planning
- multiple robots
- collision free
- motion planning
- degrees of freedom
- autonomous navigation
- indoor environments
- path planner
- navigation tasks
- potential field
- autonomous vehicles
- state space
- autonomous systems
- search algorithm
- path finding
- minimum cost
- optimal planning
- unmanned aerial vehicles
- search space
- multi agent