Igor Shapovalov, Victor Soloviev, Valeriy Finaev, Evgeny Kosenko, Jury Zargaryan
In this paper we present the results of research on the efficiency of graph-analytical methods for vehicle motion trajectory planning under uncertainties. The three most common graph-analytical methods were considered: potential fields, algorithms based on Voronoi diagrams, and A *-algorithm combined with the method of dynamic window. We proved the applicability of the considered methods to the problems of trajectory planning for complex dynamical objects on the example of the quadrotor flight control. The te…
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