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:
