Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments
Jefferson Silveira,Kleber Cabral,Sidney Givigi,Joshua A. Marshall,Jefferson Silveira,Kleber Cabral,Sidney Givigi,Joshua A. Marshall
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks for the global solution and, in the meantime, generates local paths that can be used by the robot to start execution faster. In addition, our algorithm constantl...
