Planning Paths with Fewer Turns on Grid Maps
DOI:
https://doi.org/10.1609/socs.v4i1.18298Keywords:
A*, Theta*, Link*, any-angle path planning, motion planning, minimum-link path, heuristic searchAbstract
In this paper, we consider the problem of planning any-angle paths with small numbers of turns on grid maps. We propose a novel heuristic search algorithm called Link* that returns paths containing fewer turns at the cost of slightly longer path lengths. Experimental results demonstrate that Link* can produce paths with fewer turns than other any-angle path planning algorithms while still maintaining comparable path lengths. Because it produces this type of path, artificial agents can take advantage of Link* when the cost of turns is expensive.
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2021-08-20
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