Open Access
,
pages 208-221
Grid-Based Angle-Constrained Path Planning
Publication type: Book Chapter
Publication date: 2015-09-29
scimago Q2
SJR: 0.352
CiteScore: 2.4
Impact factor: —
ISSN: 03029743, 16113349, 18612075, 18612083
Abstract
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.
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Metrics
14
Total citations:
14
Citations from 2024:
3
(21.43%)
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Yakovlev K., Baskin E., Hramoin I. Grid-Based Angle-Constrained Path Planning // Lecture Notes in Computer Science. 2015. pp. 208-221.
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Yakovlev K., Baskin E., Hramoin I. Grid-Based Angle-Constrained Path Planning // Lecture Notes in Computer Science. 2015. pp. 208-221.
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TY - GENERIC
DO - 10.1007/978-3-319-24489-1_16
UR - https://doi.org/10.1007/978-3-319-24489-1_16
TI - Grid-Based Angle-Constrained Path Planning
T2 - Lecture Notes in Computer Science
AU - Yakovlev, Konstantin
AU - Baskin, Egor
AU - Hramoin, Ivan
PY - 2015
DA - 2015/09/29
PB - Springer Nature
SP - 208-221
SN - 0302-9743
SN - 1611-3349
SN - 1861-2075
SN - 1861-2083
ER -
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@incollection{2015_Yakovlev,
author = {Konstantin Yakovlev and Egor Baskin and Ivan Hramoin},
title = {Grid-Based Angle-Constrained Path Planning},
publisher = {Springer Nature},
year = {2015},
pages = {208--221},
month = {sep}
}
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