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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 26 / Book One

Strict Theta*: Shorter Motion Path Planning Using Taut Paths

February 1, 2023

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Authors

Shunhao Oh,Hon Wai Leong

National University of Singapore,National University of Singapore


DOI:

10.1609/icaps.v26i1.13744


Abstract:

A common way to represent dynamic 2D open spaces in robotics and video games for any-angle path planning is through the use of a grid with blocked and unblocked cells. The Basic Theta* algorithm is an existing algorithm that produces near-optimal solutions with a running time close to A* on 8-directional grids. However, a disadvantage is that it often finds non-taut paths that make unnecessary turns. In this paper, we demonstrate that by restricting the search space of Theta* to taut paths, the algorithm will, in most cases, find much shorter paths than the original. We describe two novel variants of the Theta* algorithm, which are simple to implement and use, yet produce a remarkable improvement over Theta* in terms of path length, with a very small running time trade-off. Another side benefit is that almost all paths found will be taut, which makes more convincing paths.

Topics: ICAPS

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HOW TO CITE:

Shunhao Oh,Hon Wai Leong Strict Theta*: Shorter Motion Path Planning Using Taut Paths Proceedings of the International Conference on Automated Planning and Scheduling, 26 (2016) 253-257.

Shunhao Oh,Hon Wai Leong Strict Theta*: Shorter Motion Path Planning Using Taut Paths ICAPS 2016, 253-257.

Shunhao Oh,Hon Wai Leong (2016). Strict Theta*: Shorter Motion Path Planning Using Taut Paths. Proceedings of the International Conference on Automated Planning and Scheduling, 26, 253-257.

Shunhao Oh,Hon Wai Leong. Strict Theta*: Shorter Motion Path Planning Using Taut Paths. Proceedings of the International Conference on Automated Planning and Scheduling, 26 2016 p.253-257.

Shunhao Oh,Hon Wai Leong. 2016. Strict Theta*: Shorter Motion Path Planning Using Taut Paths. "Proceedings of the International Conference on Automated Planning and Scheduling, 26". 253-257.

Shunhao Oh,Hon Wai Leong. (2016) "Strict Theta*: Shorter Motion Path Planning Using Taut Paths", Proceedings of the International Conference on Automated Planning and Scheduling, 26, p.253-257

Shunhao Oh,Hon Wai Leong, "Strict Theta*: Shorter Motion Path Planning Using Taut Paths", ICAPS, p.253-257, 2016.

Shunhao Oh,Hon Wai Leong. "Strict Theta*: Shorter Motion Path Planning Using Taut Paths". Proceedings of the International Conference on Automated Planning and Scheduling, 26, 2016, p.253-257.

Shunhao Oh,Hon Wai Leong. "Strict Theta*: Shorter Motion Path Planning Using Taut Paths". Proceedings of the International Conference on Automated Planning and Scheduling, 26, (2016): 253-257.

Shunhao Oh,Hon Wai Leong. Strict Theta*: Shorter Motion Path Planning Using Taut Paths. ICAPS[Internet]. 2016[cited 2023]; 253-257.


ISSN: 2334-0843


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