• Corpus ID: 18746121

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… 

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