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Estimation, Search, and Planning (ESP) Research Group

Admissible heuristics for obstacle clearance optimization objectives

Authors
  1. Marlin P. Strub
  2. Jonathan D. Gammell
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 arXiv
2104.02298 [cs.RO]
Manuscript
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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]}},
}