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The Corridor Map Method: Real-Time High-Quality Path Planning

By R.J. Geraerts and M.H. Overmars


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

Year: 2007
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