14.4.1 Searching on a Lattice

This section follows in the same spirit as Section 5.4.2, which adapted grid search techniques to motion planning. The difficulty in the current setting is to choose a discretization that leads to a lattice that can be searched using any of the search techniques of Section 2.2. The section is inspired mainly by kinodynamic planning work [288,290,441].


Steven M LaValle 2012-04-20