An Empirical Comparison of Any-Angle Path-Planning Algorithms

We compare five any-angle path-planning algorithms, Theta*, Block A*, Field D*, ANYA, and Any-Angle Subgoal Graphs in terms of solution quality and runtime. Any-angle path-planning is a fairly new research area, and no direct comparison exists between these algorithms. We implement each algorithm fr...

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Bibliographic Details
Published inProceedings of the International Symposium on Combinatorial Search Vol. 6; no. 1; pp. 206 - 210
Main Authors Uras, Tansel, Koenig, Sven
Format Journal Article
LanguageEnglish
Published 01.09.2021
Online AccessGet full text
ISSN2832-9171
2832-9163
2832-9163
DOI10.1609/socs.v6i1.18382

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Summary:We compare five any-angle path-planning algorithms, Theta*, Block A*, Field D*, ANYA, and Any-Angle Subgoal Graphs in terms of solution quality and runtime. Any-angle path-planning is a fairly new research area, and no direct comparison exists between these algorithms. We implement each algorithm from scratch and use similar implementations to provide a fair comparison.
ISSN:2832-9171
2832-9163
2832-9163
DOI:10.1609/socs.v6i1.18382