Lab04 - Incremental Path Planning

Motivations and Goals
Become familiar with advanced methods of grid based path planning and dynamic replanning
Be able to dynamically replan the motion based on the robot feedback from the environment
Tasks (teacher)
T1x-bonus (5 Bonus Points) Implement and verify the functionality of the D* Lite algorithm
Lab resources
T1x-bonus resource package

Incremental path planning is necessary in partially known or dynamically changing environments. Typical pipeline of incremental planning is:

  1. Sensing - new measurements are fused into the environment representation
  2. Planning - planning based on the current state of the robot and environment
  3. Acting - performing an incremental motion with the robot
  4. Repeat