The Corridor Map Method: Real-Time High-Quality Path Planning
Roland Gerærts, Mark H. Overmars · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2007
A central problem in robotics is planning a collision-free path for a moving object in an environment with obstacles. Contemporary applications require a path planner that is fast (to ensure real-time interaction with the environment) and flexible (to avoid local hazards). In addition, paths need to be smooth and short. We propose a new framework, the corridor map method, which meets these requirements.