Time constrained randomized path planning using spatial networks

Real time planning of optimal paths remains an open problem in many applications of autonomous systems. This paper demonstrates a computationally efficient method for generating a set of feasible paths through parameterization into a series of nodes. The nodes and the arcs make up a directed graph. The state of the environment is embedded in an occupancy based map. A notion of optimality is introduced by combining the directed graph with this map. Network optimization techniques are used to find the best path through the directed graph.