Incremental Phi*: incremental any-angle path planning on grids

Authors:
Alex Nash;Sven Koenig;Maxim Likhachev
Affiliations:
Computer Science Department, University of Southern California, Los Angeles, California;Computer Science Department, University of Southern California, Los Angeles, California;Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA
Venue:
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Year:
2009

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Abstract

We study path planning on grids with blocked and unblocked cells. Any-angle path-planning algorithms find short paths fast because they propagate information along grid edges without constraining the resulting paths to grid edges. Incremental pathplanning algorithms solve a series of similar pathplanning problems faster than repeated single-shot searches because they reuse information from the previous search to speed up the next one. In this paper, we combine these ideas by making the anyangle path-planning algorithm Basic Theta* incremental. This is non-trivial because Basic Theta* does not fit the standard assumption that the parent of a vertex in the search tree must also be its neighbor. We present Incremental Phi* and show experimentally that it can speed up Basic Theta* by about one order of magnitude for path planning with the freespace assumption.