Trajectory Planning on Grids: Considering Speed Limit Constraints

Chrpa, Lukáš (2011) Trajectory Planning on Grids: Considering Speed Limit Constraints. In: Frontiers in Artificial Intelligence and Applications. Eleventh Scandinavian Conference on Artificial Intelligence - SCAI 2011, 227 . IOS press, Trondheim, Norway, pp. 60-69. ISBN 9781607507536

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Abstract

Trajectory (path) planning is a well known and thoroughly studied field
of automated planning. It is usually used in computer games, robotics or autonomous
agent simulations. Grids are often used for regular discretization of continuous
space. Many methods exist for trajectory (path) planning on grids, we
address the well known A* algorithm and the state-of-the-art Theta* algorithm.
Theta* algorithm, as opposed to A*, provides ‘any-angle‘ paths that look more realistic.
In this paper, we provide an extension of both these algorithms to enable
support for speed limit constraints.We experimentally evaluate and thoroughly discuss
how the extensions affect the planning process showing reasonability and justification
of our approach.

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