Trajectory Planning on Grids: Considering Speed Limit Constraints

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00181899" target="_blank" >RIV/68407700:21230/11:00181899 - isvavai.cz</a>
Result on the web
<a href="http://labe.felk.cvut.cz/~chrpa/papers/scat2011.pdf" target="_blank" >http://labe.felk.cvut.cz/~chrpa/papers/scat2011.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Trajectory Planning on Grids: Considering Speed Limit Constraints
Original language description
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.
Czech name
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Czech description
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Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of Eleventh Scandinavian Conference on Artificial Intelligence
ISBN
978-1-60750-753-6
ISSN
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e-ISSN
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Number of pages
10
Pages from-to
60-69
Publisher name
IOS Press
Place of publication
Amsterdam
Event location
Trondheim
Event date
May 24, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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