# Accelerated A * Trajectory Planning : Grid-based Path Planning Comparison

@inproceedings{Sislk2009AcceleratedA, title={Accelerated A * Trajectory Planning : Grid-based Path Planning Comparison}, author={David Sisl{\'a}k and Premysl Volf and Michal Pechoucek}, year={2009} }

The contribution of the paper is a high performance pathplanning algorithm designed to be used within a multi-agent planning framework solving a UAV collision avoidance problem. Due to the lack of benchmark examples and available algorithms for 3D+time planning, the algorithm performance has been compared in the classical domain of path planning in grids with blocked and unblocked cells. The Accelerated A* algorithm has been compared against the Theta* path planner, Rapid-Exploring Random Trees…

No Paper Link Available

## Figures and Tables from this paper

## 27 Citations

Trajectory planning for aerial vehicles with constraints

- Computer Science
- 2015

The focus of this PhD thesis is on the trajectory planning module as a part of autonomous aircraft system and the RRT algorithm, combined with a preprocessing of the exploration space, is used for a complete realistic model of the system.

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

- Computer ScienceICAPS
- 2021

This work presents two algorithms, grounded in the same idea, that can obtain provably optimal solutions to the considered problem and conducts a thorough empirical evaluation showing that the latter algorithm might be as fast as the previously-known greedy non-optimal solver while providing solutions of better quality.

Towards Parallel Real-time Trajectory Planning 3 2 Accelerated A *

- Computer Science
- 2012

This paper exploits the computing power of widely available multi-core machines to accelerate the trajectory planning by parallelisation of the search algorithm. In particular we investigate the…

Batch-Theta* for path planning to the best goal in a goal set

- Computer ScienceAdv. Robotics
- 2015

The analysis and simulations show that the proposed Batch-Theta* efficiently finds the lowest-cost path to the best goal in a given goal set under Theta*’s mechanism.

Comparison and Analysis of the DVG+A* and Rapidly-Exploring Random Trees Path-Planners for the RoboCup-Small Size League

- Computer Science2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE)
- 2019

This paper provides an experimental analysis between Dynamic Visibility Graph A Star (DVG+A*) and Rapidly-exploring Random Trees (RRT) path-planners, in order to compare which one is more adequate to…

Any-Angle Path Planning

- Computer ScienceAI Mag.
- 2013

Three new any-angle find-path algorithms are introduced that propagate information along graph edges without constraining paths to be formed by graph edges, which can be used to quickly find paths that are shorter than the paths found by traditional edge-constrained find- Path algorithms.

Speeding-Up Any-Angle Path-Planning on Grids

- Computer ScienceICAPS
- 2015

This paper takes advantage of the similarities between Subgoal Graphs and visibility graphs to show that Subgoalgraphs can be used, with small modifications, to quickly find "any-angle" paths, thus extending their applicability.

Collision-Free Path Finding for Dynamic Gaming and Real Time Robot Navigation

- Computer Science2019 IEEE 31st International Conference on Tools with Artificial Intelligence (ICTAI)
- 2019

The proposed intelligent agent (IA) technique is compared with other path planing algorithms and games in terms of time complexity, cost metrics, decision making complexity, action repertoire, interagent communication, reactivity and temporally continuous and shows comparable results to path finding with techniques using neural networks and A* algorithm.

Path Planning for Autonomous Mobile Robots: A Review

- Computer ScienceSensors
- 2021

A global classification of path planning algorithms is introduced, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats.

Fast and Optimal Pathfinding

- Computer Science
- 2014

This work develops new online and offline symmetry-breaking techniques that eliminate a large number of symmetric states and gives a first algorithm that can provably compute solutions having both of these desirable characteristics.

## References

SHOWING 1-10 OF 17 REFERENCES

Using interpolation to improve path planning: The Field D* algorithm

- Computer ScienceJ. Field Robotics
- 2006

An interpolation‐based planning and replanning algorithm for generating low‐cost paths through uniform and nonuniform resolution grids that addresses two of the most significant shortcomings of grid‐based path planning: the quality of the paths produced and the memory and computational requirements of planning over grids.

Accelerated A* path planning

- MathematicsAAMAS
- 2009

The paper addresses the area of path planning for non-holonomic vehicles operating in a large-scale dynamic continuous three-dimensional space where the vehicle has to avoid given obstacles and…

The Focussed D* Algorithm for Real-Time Replanning

- Computer ScienceIJCAI
- 1995

An extension to D* that focusses the repairs to significantly reduce the total time required for the initial path calculation and subsequent replanning operations for dynamic environments where arc costs can change during the traverse of the solution path.

Grid-Based Path-Finding

- Computer ScienceCanadian Conference on AI
- 2002

This paper introduces texes as an efficient representation of hexes as a grid representation and discusses the tradeoffs for different grid representations and grid search algorithms.

Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain

- Computer ScienceProceedings of the 2005 IEEE International Conference on Robotics and Automation
- 2005

This paper develops and implements a simple new planner which shows significant improvement over existing RRT-based planners and proposes a general framework for minimizing their effect.

The Fringe-Saving A* Search Algorithm - A Feasibility Study

- Computer ScienceIJCAI
- 2007

FSA* is an incremental version of A* that repeatedly finds shortest paths in a known gridworld from a given start cell to a given goal cell while the traversability costs of cells increase or decrease.

An algorithm for planning collision-free paths among polyhedral obstacles

- MathematicsCACM
- 1979

A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.

D*lite

- Computer ScienceAAAI/IAAI
- 2002

This paper applies Lifelong Planning A* to robot navigation inunknown terrain, including goal-directed navigation in unknown terrain and mapping of unknown terrain, and develops the resulting D* Lite algorithm, which implements the same behavior as Stentz' Focussed Dynamic A* but is algorithmically different.

Near Optimal Hierarchical Path-Finding

- Computer ScienceJ. Game Dev.
- 2004

HPA* (Hierarchical Path-Finding A*), a hierarchical approach for reducing problem complexity in path-finding on grid-based maps, which abstracts a map into linked local clusters and works very well in domains with a dynamically changing environment.

Planning algorithms

- Computer Science
- 2006

This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.