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?

  • $\begingroup$ Could you give an example of a lattice based local planner? $\endgroup$ – 50k4 Jun 14 at 8:39
  • $\begingroup$ I am still looking for a lattice based local planner. Some of the literature in the area, including Differentially Constrained mobile robot motion planning in state lattices and State Space Sampling of Feasible Motions for high-performance mobile robot navigation use lattices for motion replanning. But my understanding is that they already have a lattice-based global plan, and they then conduct dynamic replanning in the presence of obstacles $\endgroup$ – Naegling Jun 15 at 17:06
  • $\begingroup$ lattices discretize a continuos space. This allows a graph-theoretical approach to planning, which can offer global optimality guarantees. Local planners function like numerical optimisation methods. These work in continuos space and they find the next local minima, in the simplest case, closest to the initial solution. Based on this assumption, I cannot give you an example for a lattice space local planner. $\endgroup$ – 50k4 Jun 16 at 10:37

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