A Hybrid Hierarchical Navigation Architecture for Highly Dynamic Environments Using Time-Space Optimization
2023 IEEE/SICE International Symposium on System Integration (SII)（2023）
关键词
baseline navigation systems,collision-free paths,common navigation approaches,complex long-range navigation problems,crowded environments,Deep Reinforcement Learning,different observations,different planning horizons,dynamic obstacle avoidance,dynamic obstacles,extended hybrid A-Star approach,global planners,health care,hierarchical motion,highly dynamic environments,hybrid hierarchical navigation architecture,intermediate planner,learning-based local planner,Learning-based local planners,long planning horizons,mobile robots,myopic nature,optimal solution,standalone system,static environments,subsequent modules,time-space optimization,time-state space,unknown obstacles
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