Path Planning for Car-Like Robots using Towers of Uncertainties
E. Pierre, A. Lambert · 2006
The object of this paper is firstly to describe a safe path planning algorithm in an uncertain-configuration space named SATU*, based on one of the most used path planner, the A*algorithm, and to give its proofs of optimality and completeness. Secondly, it is to present an application of our algorithm to a mobile robotic problem, the way we tested the SATU*in a simulated environment close to the real environment and, through two examples of different situations, the advantages of the SATU*over a simple path planner as A*.