Article
Version 1
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Tangent Based-Path Path Planning with Distinctive Topologies in a Dynamic Environment
Version 1
: Received: 31 July 2021 / Approved: 2 August 2021 / Online: 2 August 2021 (12:50:25 CEST)
How to cite: Yao, Z. Tangent Based-Path Path Planning with Distinctive Topologies in a Dynamic Environment. Preprints 2021, 2021080034. https://doi.org/10.20944/preprints202108.0034.v1 Yao, Z. Tangent Based-Path Path Planning with Distinctive Topologies in a Dynamic Environment. Preprints 2021, 2021080034. https://doi.org/10.20944/preprints202108.0034.v1
Abstract
This manuscript proposes a novel tangent-graph-based method that provides all distinctive topology paths, as a set of trajectories that can not be transformed into each other by gradual bending and stretching without colliding with obstacles. As the global optimal trajectory (limited by dynamic constraints) may not correspond to the shortest path (almost without dynamic constraints), it is important to provide all distinctive topology paths rather than just the globally shortest one. One of the application is provide initial paths for trajectory planning methods, such as time elastic band (TEB) and dynamic window approach (DWA). Considering that a mobile platform is always working in a dynamic changing environment and that update the whole graph is time consuming, a dynamic rectify method is proposed to update tangents according to local map provided by sensor reading. Finally, results under real grid maps are presented.
Keywords
path planning; distinctive topolgy; tangent
Subject
Computer Science and Mathematics, Geometry and Topology
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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