Kinodynamic motion planning with Space Time Exploration Guided Heuristic Search for car like robots in dynamic environments
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 kinodynamic vehicle model. Furthermore, the search step size and state resolution are adapted incrementally to guarantee resolution completeness with a trade off for efficiency. The performance of Space Time Exploration Guided Heuristic Search (STEHS) approach is verified in two scenarios and compared with several search based and sampling based methods.
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)