Spatial Constraint Generation for Motion Planning in Dynamic Environments
Han Hu,Peyman Yadmellat,Han Hu,Peyman Yadmellat
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a map-based global planner to generate a collision-free trajectory. These methods may fail without an offline map or where the map is invalid due to dynamic chang...
