Multi-resolution H-cost motion planning: A new framework for hierarchical motion planning for autonomous mobile vehicles

This paper summarizes some recent developments on a new motion planning framework for autonomous vehicles. The main novelties of the current work include: a provably complete multi-resolution path planning scheme using wavelet-based workspace cell decompositions; a general technique for incorporating vehicle dynamic constraints in the geometric path planner; and a local trajectory generation scheme based on model predictive control.

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