An Empirical Comparison of Any-Angle Path-Planning Algorithms

Proceedings of the International Symposium on Combinatorial Search, 8

Volume

Vol. 8 No. 1 (2015): Eighth Annual Symposium on Combinatorial Search

Short Papers

We compare five any-angle path-planning algorithms, Theta*, Block A*, Field D*, ANYA, and Any-Angle Subgoal Graphs in terms of solution quality and runtime. Any-angle path-planning is a fairly new research area, and no direct comparison exists between these algorithms. We implement each algorithm from scratch and use similar implementations to provide a fair comparison.

10.1609/socs.v6i1.18382