2019
T*: Time-Optimal Risk-Aware Motion Planning for Curvature-Constrained Vehicles
RA-L 2019
This letter addresses the time-optimal risk-aware motion planning problem for curvature-constrained variable-speed vehicles in the presence of obstacles. To the best of our knowledge, this problem has not been solved. To obtain a feasible solution, we present a grid-based method, called T*, which co