Can a state lattice planner be used purely as a local planner?

asked 2021-06-14 00:44:44 -0500

naegling77 gravatar image

updated 2021-06-14 00:49:03 -0500

Hi, I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a lattice-based global planned path for mobile robots

In other words, given I have a global plan as a sequence of waypoints to follow, can I use a lattice-based local planner for obstacle avoidance?

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