ユークリッド距離最適なグリッド経路の後処理
Euclidean Distance-Optimal Post-Processing of Grid-Based Paths
グリッド上で計画された経路を、同じトポロジー内で証明可能な最短経路まで短縮する後処理手法HVGを提案し、実験的に比較した論文。
著者: Guru Koushik Senthil Kumar, Sandip Aine, Maxim Likhachev
分類: cs.RO
原文アブストラクト
Paths planned over grids can often be suboptimal in an Euclidean space and contain a large number of unnecessary turns. Consequently, researchers have looked into post-processing techniques to improve the paths after they are planned. In this paper, we propose a novel post-processing technique, called Homotopic Visibility Graph Planning (HVG) which differentiates itself from existing post-processing methods in that it is guaranteed to shorten the path such that it is at least as short as the provably shortest path that lies within the same topological class as the initially computed path. We propose the algorithm, provide proofs and compare it experimentally against other post-processing methods and any-angle planning algorithms.
