ROApr 6, 2021
Admissible heuristics for obstacle clearance optimization objectives
arXiv:2104.02298v23 citations
Originality Synthesis-oriented
AI Analysis
This work addresses path planning safety for robotics or autonomous systems, but it appears incremental as it builds on existing heuristic methods.
The paper tackled the problem of generating safe paths in path planning by developing admissible heuristics for obstacle clearance optimization, which can enhance the performance of informed algorithms.
Obstacle clearance in state space is an important optimization objective in path planning because it can result in safe paths. This technical report presents admissible solution- and path-cost heuristics for this objective, which can be used to improve the performance of informed path planning algorithms.