Admissible heuristics for obstacle clearance optimization objectives
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- Publication 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.
- Publication Details
- Type
- Technical Report
- Institution
- Estimation, Search, and Planning (ESP) Research Group, University of Oxford
- Number
- TR-2021-MPS001
- arXiv Identifier
- 2104.02298 [cs.RO]
- Manuscript
- Open-Access PDF
- https://arxiv.org/pdf/2104.02298
- Google Scholar
- Google Scholar
- BibTeX Entry
@techreport{strub_arxiv21,
author = {Marlin P Strub and Jonathan D Gammell},
title = {Admissible heuristics for obstacle clearance optimization objectives},
institution = {{Estimation, Search, and Planning} ({ESP}) Research Group, University of Oxford},
year = {2021},
number = {TR-2021-MPS001},
month = apr,
note = {{arXiv}:2104.02298 {[cs.RO]}},
}