Strict Theta*: shorter motion planning using taut paths

speaker: Oh Shunhao event: RAS group meeting

ANYA algorithm

• first optimal any-angle algorithm on grids
• http://harabor.net/data/papers/hgoa-oaapip-16.pdf

Theta* algorithm

Strict Theta*

• non taut paths are non optimal
• search only taut paths
• add tautness check
  • how to check for tautness
  • finite penalty
• to handle case where there is no solution
  • recursive theta*
• back up the tree to find taut paths

results

• ratio are very small
• length ratio
• running time
• percentage of not taut/taut/optimal paths

comments

• Explain any angle with picture
• show both paths, optional and non-optimal