Abstract The architecture of the PSP framework was introduced in Chapter 4 . In this chapter, we want to focus on the implementations and solutions developed. It is begins with a detailed overview of a complete planning sequence in Section 5.1. this is followed by the three planning stages of the PSP modules: State space exploration (Section 5.2), trajectory generation (Section 5.3) and optimization (Section 5.4). The trajectory generation is based on related work by Kelly and Nagy.
Sampling-based planning in phase space
2018-01-01
25 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch