Lattice Planner

The state lattice planner efficiently encapsulates vehicle constraints such that they need not be considered during planning.

The state lattice is a graph constructed from edges that represent continuous motions connecting discrete state space nodes. The control set which corresponds to these edges is generated according to the dynamic constraints of a particular vehicle.

Additional reading:

High Performance State Lattice Planning Using Heuristic Look-Up Tables

Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice

Differentially Constrained Mobile Robot Motion Planning in State Lattices

Application example:

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Quadratic programming (QP)

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