Path Planner for a Car-Like Robot Applying Multi-Layer Grid Map of the Environment

What is it about?

This paper presents a method of collision-free path planning for a car-like robot. The method is based on discretization of the robot state space. To represent obstacles and free space in the environment a multi-layer grid map is proposed. It allows to obtain well fitted approximation of area occupied by obstacles and also enables efficiently to perform a collision test without applying C-space approach.

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