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.
- Technical Report
- Report Number
- Estimation, Search, and Planning (ESP) Research Group, University of Oxford
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.