Date of Original Version
International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
Abstract or Table of Contents
We propose a motion planning algorithm that reasons about tradeoffs between the discrete decision problems and continuous optimization problems faced by a mobile robot navigating through a cluttered environment. Discrete decisions typically involve transient options as the robot selects corridors to traverse. By contrast, optimization occurs within open spaces among homotopic paths. We utilize properties of local path sets to detect decisions of immediate importance and select routes that maximize the chance of future success.