CWave: High-performance single-source any-angle path planning on a grid

@article{Sinyukov2017CWaveHS,
  title={CWave: High-performance single-source any-angle path planning on a grid},
  author={Dmitry Sinyukov and Taskin Padir},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={6190-6197}
}
Path planning on a 2D-grid is a well-studied problem in robotics. It usually involves searching for a shortest path between two vertices on a grid. Single-source path planning is a modified problem which asks to find distances from a given point to all other points on the map. A high-performance algorithm for single-source any-angle path planning on a grid that we named CWave is proposed in this work. “Any-angle” attribute of a path planning algorithm implies that such algorithm can find paths… CONTINUE READING

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