A reactive planning strategy locally adjusts reference paths for collision avoidance while an adaptive tracking controller follows the changes via discretization, enabling safe robot navigation in cluttered environments with partial information.
Autonomous Driving Motion Planning With Constrained Iterative
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Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
A reactive planning strategy locally adjusts reference paths for collision avoidance while an adaptive tracking controller follows the changes via discretization, enabling safe robot navigation in cluttered environments with partial information.