Any-Angle Path Planning

Authors

  • Alex Nash Northrop Grumman Integrated Systems
  • Sven Koenig University of Southern California

DOI:

https://doi.org/10.1609/aimag.v34i4.2512

Abstract

In robotics and video games, one often discretizes continuous terrain into a grid with blocked and unblocked grid cells and then uses path-planning algorithms to find a shortest path on the resulting grid graph. This path, however, is typically not a shortest path in the continuous terrain. In this overview article, we discuss a path-planning methodology for quickly finding paths in continuous terrain that are typically shorter than shortest grid paths. Any-angle path-planning algorithms are variants of the heuristic path-planning algorithm A* that find short paths by propagating information along grid edges (like A*, to be fast) without constraining the resulting paths to grid edges (unlike A*, to find short paths).

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Published

2013-09-18

How to Cite

Nash, A., & Koenig, S. (2013). Any-Angle Path Planning. AI Magazine, 34(4), 85-107. https://doi.org/10.1609/aimag.v34i4.2512

Issue

Section

Articles