FDA*: A FOCUSED SINGLE‐QUERY GRID BASED PATH PLANNING ALGORITHM
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Date
2022-02-09
Journal Title
Journal ISSN
Volume Title
Publisher
Journal of Automation, Mobile Robotics and Intelligent Systems
Abstract
Square grid representations of the state‐space are a com‐
monly used tool in path planning. With applications in
a variety of disciplines, including robotics, computatio‐
nal biology, game development, and beyond. However,
in large‐scale and/or high dimensional environments the
creation and manipulation of such structures become too
expensive, especially in applications when an accurate re‐
presentation is needed.
In this paper, we present a method for reducing the
cost of single‐query grid‐based path planning, by focu‐
sing the search to a smaller subset, that contains the
optimal solution. This subset is represented by a hyper‐
rectangle, the location, and dimensions of which are cal‐
culated departing from an initial feasible path found by a
fast search using the RRT* algorithm. We also present an
implementation of this focused discretization method cal‐
led FDA*, a resolution optimal algorithm, where the A*
algorithm is employed in searching the resulting graph
for an optimal solution. We also demonstrate through si‐
mulation results, that the FDA* algorithm uses less me‐
mory and has a shorter run‐time compared to the classic
A* and thus other graph‐based planning algorithms, and
at the same time, the resulting path cost is less than that
of regular RRT based algorithms.