Admissible heuristics for obstacle clearance optimization objectives
Robotics
2021-05-04 v2
Abstract
Obstacle clearance in state space is an important optimization objective in path planning because it can result in safe paths. This technical report presents admissible solution- and path-cost heuristics for this objective, which can be used to improve the performance of informed path planning algorithms.
Keywords
Cite
@article{arxiv.2104.02298,
title = {Admissible heuristics for obstacle clearance optimization objectives},
author = {Marlin P. Strub and Jonathan D. Gammell},
journal= {arXiv preprint arXiv:2104.02298},
year = {2021}
}
Comments
6 pages, 3 figures