DeepAI AI Chat
Log In Sign Up

Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles

04/14/2021
by   Konstantin Yakovlev, et al.
0

Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms for any-angle path finding in static environments exist. However, when dynamic obstacles are present and time is the objective to be minimized, these algorithms can no longer guarantee optimality. In this work, we elaborate on why this is the case and what techniques can be used to solve the problem optimally. We present two algorithms, grounded in the same idea, that can obtain provably optimal solutions to the considered problem. One of them is a naive algorithm and the other one is much more involved. We conduct a thorough empirical evaluation showing that, in certain setups, the latter algorithm might be as fast as the previously-known greedy non-optimal solver while providing solutions of better quality. In some (rare) cases, the difference in cost is up to 76 difference is typically observed between optimal and greedy any-angle solvers in static environments).

READ FULL TEXT

page 1

page 3

page 9

06/05/2015

Grid-based angle-constrained path planning

Square grids are commonly used in robotics and game development as spati...
04/19/2018

Static and Dynamic Path Planning Using Incremental Heuristic Search

Path planning is an important component in any highly automated vehicle ...
06/01/2020

Revisiting Bounded-Suboptimal Safe Interval Path Planning

Safe-interval path planning (SIPP) is a powerful algorithm for finding a...
01/26/2022

Combining optimal path search with task-dependent learning in a neural network

Finding optimal paths in connected graphs requires determining the small...
01/16/2014

Theta*: Any-Angle Path Planning on Grids

Grids with blocked and unblocked cells are often used to represent terra...
02/26/2021

Multi-Agent Path Planning based on MPC and DDPG

The problem of mixed static and dynamic obstacle avoidance is essential ...
11/02/2018

eLIAN: Enhanced Algorithm for Angle-constrained Path Finding

Problem of finding 2D paths of special shape, e.g. paths comprised of li...