Fast local path planner in certainty grid

A real time local path planner is designed and developed. It is based on a specific environment modelling with square grid tessellation. Because of different motion requirements to achieve a mission, several path planners are developed that do forward or reverse motions and manoeuvres. The motion planning problem is formulated as the problem of motion of a point in a reduced sub-set of the configuration space. The implementation use intensively cellular automaton paradigm to compute the different stages of the processing