METHOD AND DEVICE FOR DETERMINISTIC SAMPLING-BASED MOTION PLANNING

摘要

The invention relates to a computer-implemented method for planning an optimized motion path, wherein the optimized motion path is determined applying a sampling-based motion-planning algorithm depending on a sample node set (S) including sample nodes (x), wherein the sample nodes (x) in the sample node set (S) are deterministically selected from a configuration node set (V) including all obstacle free nodes, wherein the sample nodes (x) are selected to optimize a given dispersion criterion, wherein the dispersion criterion selects the sample nodes (x) so that the largest uncovered area/space within the configuration node set (V) is as small as possible.