Lecture 4: Motion planning with differential constraints

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This lecture explains some main ideas of continuous motion planning with differential constraints:

• Lattice planning
• Motion primitives and obstacles
• Optimization of trajectories
• Computer tools and libraries for motion planning

 

Recommended texts:

1. Section 14.1-14.4 of the book "Planning Algorithms" by LaValle Links to an external site..
2. Likhachev, M., & D. Ferguson: ”Planning long dynamically feasible maneuvers for autonomous vehicles". The International Journal of Robotics Research, 28(8), 933-945, 2009 Links to an external site..