目前看来，无论是控制空间还是状态空间采样，都有两种，一种可以用于全局，一种只是局部：
- 基于A*的的全局lattice planner
- 单层lattice的local planner
论文1：
这个论文，是基于A*的lattice planner
High Performance State Lattice Planning Using Heuristic Look-Up Tables
论文2：
这个论文，是单层lattice，local planner
1.构建单层lattice搜索空间
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
2.轨迹生成（BVP）
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
3.路径跟踪
Constrained Optimization Path Following of Wheeled Robots in Natural Terrain