Grid-Based Angle-Constrained Path Planning
Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is concentrated on finding the shortest (in geometrical sense) paths while in many applications finding smooth paths (rather than the shortest ones but containing sharp turns) is preferable. In this paper we study the problem of generating smooth paths and concentrate on angle constrained path planning. We put angle-constrained path planning problem formally and present a new algorithm tailored to solve it – LIAN. We examine LIAN both theoretically and empirically. We show that it is sound and complete (under some restrictions). We also show that LIAN outperforms the analogues when solving numerous path planning tasks within urban outdoor navigation scenarios.
KeywordsPath planning Path finding Heuristic search Grids Grid worlds Angle constrained paths A* Theta* LIAN
Unable to display preview. Download preview PDF.
- 9.Likhachev, M., Gordon, G., Thrun, S.: ARA*: Anytime A* with Provable Bounds on Sub-Optimality, Advances in Neural Information Processing Systems 16 (NIPS). MIT Press, Cambridge (2004)Google Scholar
- 10.Botea, A., Muller, M., Schaeffer, J.: Near optimal hierarchical path finding. Journal of Game Development 1(1), 7–28 (2004)Google Scholar
- 11.Likhachev, M., Stentz, A.: R* Search. In: Proceedings of the Twenty-Third AAAI Conference on Artificial Intelligence. AAAI press, Menlo Park (2008)Google Scholar
- 12.Nash, A., Daniel, K., Koenig, S., Felner, A.: Theta*: any-angle path planning on grids. In: Proceedings of the National Conference on Artificial Intelligence, vol. 22, No. 2, p. 1177. AAAI Press, Menlo Park (2007)Google Scholar
- 13.Harabor, D., Grastien, A.: Online graph pruning for pathfinding on grid maps. In: AAAI 2011 (2011)Google Scholar
- 15.Munoz, P., Rodriguez-Moreno, M.: Improving efficiency in any-angle path-planning algorithms. In: 2012 6th IEEE International Conference Intelligent Systems (IS), pp. 213–218. IEEE (2012)Google Scholar
- 18.Pitteway, M.L.V.: Algorithms of conic generation. In: Fundamental Algorithms for Computer Graphics, pp. 219–237. Springer, HeidelbergGoogle Scholar