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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2401.13078 |
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| _version_ | 1866916727334371328 |
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| author | Macenski, Steve Booker, Matthew Wallace, Joshua Fischer, Tobias |
| author_facet | Macenski, Steve Booker, Matthew Wallace, Joshua Fischer, Tobias |
| contents | We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations of Cost-Aware A*, Hybrid-A*, and State Lattice planners that can be deployed for Ackermann, legged, and other large non-circular robots. Our framework introduces novel "Cost-Aware" variations that significantly improve performance in complex environments common to mobile robotics while maintaining kinematic feasibility constraints. Integrated as the standard planning system within the popular ROS 2 Navigation stack, Nav2, Smac Planner now powers thousands of robots worldwide across academic research, commercial applications, and field deployments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_13078 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics Macenski, Steve Booker, Matthew Wallace, Joshua Fischer, Tobias Robotics We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations of Cost-Aware A*, Hybrid-A*, and State Lattice planners that can be deployed for Ackermann, legged, and other large non-circular robots. Our framework introduces novel "Cost-Aware" variations that significantly improve performance in complex environments common to mobile robotics while maintaining kinematic feasibility constraints. Integrated as the standard planning system within the popular ROS 2 Navigation stack, Nav2, Smac Planner now powers thousands of robots worldwide across academic research, commercial applications, and field deployments. |
| title | Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.13078 |