Online State-Time Trajectory Planning Using Timed-ESDF in Highly Dynamic Environments
Delong Zhu,Tong Zhou,Jiahui Lin,Yuqi Fang,Max Q.-H. Meng,Delong Zhu,Tong Zhou,Jiahui Lin,Yuqi Fang,Max Q.-H. Meng
Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the curse of dimensionality of the state-time space. Existing state-time planners are typically implemented based on randomized sampling approaches or path searching on discrete graphs. The smoothness, path clearance, or planning efficiency is sometimes not satisfying. In this work, we propose a...
