Informed Sampling-based Collision Avoidance with Least Deviation from the Nominal Path
Thomas T. Enevoldsen,Roberto Galeazzi,Thomas T. Enevoldsen,Roberto Galeazzi
This paper addresses local path re-planning for n-dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specified nominal path, such that the subset efficiently encapsulates all points along the nominal path. The...
