HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps
Xi Huang,Gergely Sóti,Hongyi Zhou,Christoph Ledermann,Björn Hein,Torsten Kröger,Xi Huang,Gergely Sóti,Hongyi Zhou,Christoph Ledermann,Björn Hein,Torsten Kröger
With the goal of efficiently computing collisionfree robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot environments into static and dynamic elements, we use the static part for initializing a deterministic roadmap, which provides a lower bound of the final path cost as infor...
