2022
NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots With Nonholonomic Constraints
Mikhail Kurenkov, Andrei Potapov, Alena Savinykh, Evgeny Yudin, Evgeny Kruzhkov, Pavel A. Karpyshev +1
RA-L 2022
Optimal motion planning is one of the most critical problems in mobile robotics. On the one hand, classical sampling-based methods propose asymptotically optimal solutions to this problem. However, these planners cannot achieve smooth and short trajectories in reasonable calculation time. On the oth