Efficient Optimal Search of Euclidean-Cost Grids and Lattices

摘要

We describe a simple technique to speed up optimal path planning on Euclidean-cost grids and lattices. Many robot navigation planning algorithms build approximate grid representations of the environment and use Djikstra's algorithm or A* to search the resulting embedded graph for an optimal path between given start and goal locations. However, the classical implementations of these search algorithms were designed to find optimal paths on arbitrary graphs with edges having arbitrary positive weight values.