Fast Asymptotically Optimal Path Planning in Dynamic, Uncertain Environments
Lu Huang,Xingjian Jing,Lu Huang,Xingjian Jing
This paper presents Fast Adaptive Tree (FAT), an asymptotically-optimal sampling-based path planner for dynamic and uncertain scenarios. Namely, the solution extracted converges to the optimal solution given the sensor information as the number of samples approaches infinity. The planner maintains an underlying graph, which increasingly approximates the search domain, and a dynamic spanning tree o...