Admissible heuristics for obstacle clearance optimization objectives (arXiv 2021)
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Marlin has been working on planning problems that seek to optimize the distance between paths and obstacles. This is a difficult problem for informed search algorithms, like A*, because there aren't very many effective and cost-efficient admissible heuristics for obstacle clearance. He's written up a short technical note on an admissible heuristic for clearance in search space that you can find on arXiv.
- Publication
- Type
- Technical Report
- Report Number
- TR-2021-MPS001
- Organization
- Estimation, Search, and Planning (ESP) Research Group, University of Oxford
- Date
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.