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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.

    Item Type: Book Chapter
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Schools: School of Computing and Engineering
    School of Computing and Engineering > Informatics Research Group > Knowledge Engineering and Intelligent Interfaces
    Related URLs:
    Depositing User: Lukas Chrpa
    Date Deposited: 14 Feb 2012 10:37
    Last Modified: 14 Feb 2012 10:37
    URI: http://eprints.hud.ac.uk/id/eprint/12176

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