A bug-inspired algorithm for efficient anytime path planning

Authors:
Javier Antich;Alberto Ortiz;Javier Mínguez
Affiliations:
Dept. of Maths and Computer Science, University of the Balearic Islands, Spain;Dept. of Maths and Computer Science, University of the Balearic Islands, Spain;Dept. of Computer Science and Systems Engineering, University of Zaragoza, Spain
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In recent years, anytime algorithms have shown to be a good solution for planning a path in domains with severe restrictions regarding the time for deliberation. They typically operate by quickly finding a highly suboptimal path first, and then improving it until the available time runs out. In this paper, we propose a novel anytime approach called ABUG that performs much more efficiently than the competing strategies. ABUG is based on an improved version of a member of the popular family of algorithms known as Bug. A formal analysis of the planner is provided and several relevant properties of ABUG are identified. Besides, as done in some heuristic-based anytime approaches, we define bounds on the quality/length of the paths returned by the algorithm. Finally, in order to demonstrate the computational savings associated with the proposal, a comparative study involving a set of well-known path-planning techniques is also carried out.