FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning …