Vehicle Motion Planning with Time-Varying Constraints
William Todd Cerven, Francesco Bullo, Victoria Coverstone · Journal of Guidance Control and Dynamics · 2004
With the growing emphasis on vehicle autonomy, the problem of planning a trajectory in an environment with obstacles has become increasingly important. This task has been of particular interest to roboticists and computer scientists, whose primary focus is on kine-matic motion planning [1]. Typical kinematic planning methods fall into two main categories,