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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 23 / Book One

An Optimal Any-Angle Pathfinding Algorithm

February 1, 2023

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Authors

Daniel Harabor,Alban Grastien

NICTA and The Australian National University,NICTA and The Australian National University


DOI:

10.1609/icaps.v23i1.13609


Abstract:

Any-angle pathfinding is a common problem from robotics and computer games: it requires finding a Euclidean shortest path between a pair of points in a grid map. Prior research has focused on approximate online solutions. A number of exact methods exist but they all require supra-linear space and preprocessing time. In this paper we describe Anya: a new optimal any-angle pathfinding algorithm which searches over sets of states represented as intervals. Each interval is identified online. From each we select a representative point to derive a corresponding f-value for the set. Anya always returns an optimal path. Moreover it does so entirely online, without any preprocessing or memory overheads. This result answers an open question from the areas of Artificial Intelligence and Game Development: is there an any-angle pathfinding algorithm which is online and optimal? The answer is yes.

Topics: ICAPS

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HOW TO CITE:

Daniel Harabor,Alban Grastien An Optimal Any-Angle Pathfinding Algorithm Proceedings of the International Conference on Automated Planning and Scheduling, 23 (2013) 308-311.

Daniel Harabor,Alban Grastien An Optimal Any-Angle Pathfinding Algorithm ICAPS 2013, 308-311.

Daniel Harabor,Alban Grastien (2013). An Optimal Any-Angle Pathfinding Algorithm. Proceedings of the International Conference on Automated Planning and Scheduling, 23, 308-311.

Daniel Harabor,Alban Grastien. An Optimal Any-Angle Pathfinding Algorithm. Proceedings of the International Conference on Automated Planning and Scheduling, 23 2013 p.308-311.

Daniel Harabor,Alban Grastien. 2013. An Optimal Any-Angle Pathfinding Algorithm. "Proceedings of the International Conference on Automated Planning and Scheduling, 23". 308-311.

Daniel Harabor,Alban Grastien. (2013) "An Optimal Any-Angle Pathfinding Algorithm", Proceedings of the International Conference on Automated Planning and Scheduling, 23, p.308-311

Daniel Harabor,Alban Grastien, "An Optimal Any-Angle Pathfinding Algorithm", ICAPS, p.308-311, 2013.

Daniel Harabor,Alban Grastien. "An Optimal Any-Angle Pathfinding Algorithm". Proceedings of the International Conference on Automated Planning and Scheduling, 23, 2013, p.308-311.

Daniel Harabor,Alban Grastien. "An Optimal Any-Angle Pathfinding Algorithm". Proceedings of the International Conference on Automated Planning and Scheduling, 23, (2013): 308-311.

Daniel Harabor,Alban Grastien. An Optimal Any-Angle Pathfinding Algorithm. ICAPS[Internet]. 2013[cited 2023]; 308-311.


ISSN: 2334-0843


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