A hierarchical approach for primitive-based motion planning and control of autonomous vehicles
We examine graph-based search methods for motion planning using motion primitives. We develop a locally greedy algorithm and compare it to a version of Weighted A*. Greedy algorithm is advantageous when utilizing large motion primitive libraries. We develop a hybrid control technique for tracking concatenated motion primitives. The approach is applied to a hovercraft subject to disturbances and uncertainties.
motion planning hybrid control heuristic search time-varying systems linear matrix inequalities