Trajectory (path) planning is a well known and thoroughly studied field#R##N#of automated planning. It is usually used in computer games, robotics or autonomous#R##N#agent simulations. Grids are often used for regular discretization of continuous#R##N#space. Many methods exist for trajectory (path) planning on grids, we#R##N#address the well known A* algorithm and the state-of-the-art Theta* algorithm.#R##N#Theta* algorithm, as opposed to A*, provides ‘any-angle‘ paths that look more realistic.#R##N#In this paper, we provide an extension of both these algorithms to enable#R##N#support for speed limit constraints.We experimentally evaluate and thoroughly discuss#R##N#how the extensions affect the planning process showing reasonability and justification#R##N#of our approach.
['Lukás Chrpa']
Trajectory Planning on Grids: Considering Speed Limit Constraints.