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An Optimization-Based Receding Horizon Trajectory Planning Algorithm
2020
IFAC-PapersOnLine
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning algorithm in a first step to efficiently find a feasible, but possibly suboptimal, nominal solution to the trajectory planning problem where in particular the combinatorial aspects of the problem are solved. The resulting nominal trajectory is then improved in
doi:10.1016/j.ifacol.2020.12.2399
fatcat:zyf2jx57xvgjrjk5nepbuijhri