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arXiv · 2412.10320

MeshA*: Efficient Path Planning With Motion Primitives

Marat Agranovskiy·Konstantin Yakovlev
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Abstract

We study a path planning problem where the possible move actions are represented as a finite set of motion primitives aligned with the grid representation of the environment. That is, each primitive corresponds to a short kinodynamically-feasible motion of an agent and is represented as a sequence of the swept cells of a grid. Typically, heuristic search, i.e. A*, is conducted over the lattice induced by these primitives (lattice-based planning) to find a path. However, due to the large branching factor, such search may be inefficient in practice. To this end, we suggest a novel technique rooted in the idea of searching over the grid cells (as in vanilla A*) simultaneously fitting the possible sequences of the motion primitives into these cells. The resultant algorithm, MeshA*, provably preserves the guarantees on completeness and optimality, on the one hand, and is shown to notably outperform conventional lattice-based planning (x1.5-x2 decrease in the runtime), on the other hand.

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Marat Agranovskiy, Konstantin Yakovlev. 2024-12-13. MeshA*: Efficient Path Planning With Motion Primitives. https://arxiv.org/abs/2412.10320

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