AAAI Publications, Eighth Annual Symposium on Combinatorial Search

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An Empirical Comparison of Any-Angle Path-Planning Algorithms
Tansel Uras, Sven Koenig

Last modified: 2015-05-14


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.


Any-angle path-planning; Heuristic search

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