This paper presents an efficient motion planning method for nonholonomic vehicles, which combines space exploration and heuristic search to achieve online performance. The space exploration employs simple geometric shapes to investigate the collision-free space for the dimension and topology information. Then, the heuristic search is guided by this knowledge to generate vehicle motions under kinodynamic constraints. The overall performance of this framework greatly benefits from the cooperation of these two simple generic algorithms in suitable domains, which sequentially handles the free-space information and kinodynamic constraints. Experimental results show that this method is able to generate motions for nonholonomic vehicles in a time frame of less than 100 milliseconds for the given problem settings. The contribution of this work is the development of a Space Exploration Guided Heuristic Search with a circle-path based heuristics and adaptable search step size. The approach is grid-free and able to plan nonholonomic vehicle motions under kinodynamic constraints.


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    Title :

    Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles


    Contributors:
    Chen, Chao (author) / Rickert, Markus (author) / Knoll, Alois (author)


    Publication date :

    2013-06-01


    Size :

    327116 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    COMBINING SPACE EXPLORATION AND HEURISTIC SEARCH IN ONLINE MOTION PLANNING FOR NONHOLONOMIC VEHICLES

    Chen, C. / Rickert, M. / Knoll, A. et al. | British Library Conference Proceedings | 2013




    A TRAFFIC KNOWLEDGE AIDED VEHICLE MOTION PLANNING ENGINE BASED ON SPACE EXPLORATION GUIDED HEURISTIC SEARCH

    Chen, C. / Rickert, M. / Knoll, A. et al. | British Library Conference Proceedings | 2014


    Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments

    Liu, Changliu / Wang, Yizhou / Tomizuka, Masayoshi | IEEE | 2017