Path planning for a tethered robot using Multi-Heuristic A* with topology-based heuristics.
Soonkyum KimMaxim LikhachevPublished in: IROS (2015)
Keyphrases
- path planning
- dead ends
- mobile robot
- path planning algorithm
- obstacle avoidance
- multi robot
- dynamic environments
- collision avoidance
- configuration space
- search algorithm
- indoor environments
- multiple robots
- potential field
- robot path planning
- motion planning
- path finding
- navigation tasks
- path planner
- trajectory planning
- autonomous robots
- search and rescue
- variable ordering
- heuristic function
- autonomous navigation
- collision free
- unknown environments
- optimal path
- degrees of freedom
- landmark recognition
- aerial vehicles
- dynamic and uncertain environments
- tree search
- heuristic search
- autonomous vehicles
- tabu search
- pattern databases
- state space
- dynamic programming
- np hard
- optimal solution