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USING TOPOLOGICAL STRUCTURE FOR PATH PLANNING IN SEMI-STRUCTURED ENVIRONMENTS
USING TOPOLOGICAL STRUCTURE FOR PATH PLANNING IN SEMI-STRUCTURED ENVIRONMENTS
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机译:在半结构化环境中使用拓扑结构进行路径规划
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摘要
A method of creating a lane network of a semi-structured environment for a vehicle, assigning a corresponding cost function to each of a plurality of coordinates of the semi-structured environment using the lane network and a state of the vehicle, the state of the vehicle corresponding to a coordinate location of the vehicle and an angular orientation of the vehicle, and determining an obstacle-free path on the semi-structured environment using the cost function of each of the plurality of coordinates.
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