Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

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 (doi: 10.20944/preprints202108.0034.v1). Yao, Z. Tangent Based-Path Path Planning with Distinctive Topologies in a Dynamic Environment. Preprints 2021, 2021080034 (doi: 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

Comments (1)

Comment 1
Received: 7 August 2021
Commenter: Zhuo Yao
The commenter has declared there is no conflict of interests.
Comment: I am the author and I am looking for a PhD position in navigation, do not hesitate to contact me if you know there is a potential one for me. Thanks.
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