Optimal Any-Angle Pathfinding In Practice

@article{Harabor2016OptimalAP,
  title={Optimal Any-Angle Pathfinding In Practice},
  author={Daniel Damir Harabor and Alban Grastien and Dindar {\"O}z and Vural Aksakalli},
  journal={J. Artif. Intell. Res.},
  year={2016},
  volume={56},
  pages={89-118}
}
Any-angle pathfinding is a fundamental problem in robotics and computer games. [] Key Result In a range of empirical comparisons we show that Anya is competitive with several recent (sub-optimal) online and pre-processing based techniques and is up to an order of magnitude faster than the most common benchmark algorithm, a grid-based implementation of A.

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  • D. SinyukovT. Padır
  • Computer Science
    2017 IEEE International Conference on Robotics and Automation (ICRA)
  • 2017
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Three contributions that enable the construction of effective grid path planners for extended 2 k -neighborhoods are described that are competitive with the "any-angle" path planner Theta$^*$ both in terms of solution quality and runtime.

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