G2VD planner is an efficient motion planning approach with grid-based generalized Voronoi diagrams. It has been applied to mobile robot navigation in both indoor and outdoor environments.
The following video shows autonomous navigation on a large-scale campus with unknown static and dynamic obstacles.
The preprint is available at arXiv. We will release the implementation of G2VD planner once the paper is accepted.
The source code will be released under BSD 3-Clause license.