Motivations and Goals |
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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-dstar (5 Bonus Points) Implement and verify the functionality of the D* Lite algorithm |
Incremental path planning is necessary in partially known or dynamically changing environments. Typical pipeline of incremental planning is: