Planning Paths with Fewer Turns on Grid Maps
نویسندگان
چکیده
In this paper, we consider the problem of planning anyangle paths with small numbers of turns on grid maps. We propose a novel heuristic search algorithm called Link* that returns paths containing fewer turns at the cost of slightly longer path lengths. Experimental results demonstrate that Link* can produce paths with fewer turns than other any-angle path planning algorithms while still maintaining comparable path lengths. Because it produces this type of path, artificial agents can take advantage of Link* when the cost of turns is expensive.
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