Toward a String-Pulling Approach to Path Smoothing on Grid Graphs
Jihee Han, Tansel Uras, Sven Koenig · Proceedings of the International Symposium on Combinatorial Search · 2021
Paths found on grid graphs are often unrealistic looking in the continuous environment that the grid graph represents and often need to be smoothed after a search. The well-known algorithm for path smoothing is greedy in nature and does not necessarily eliminate all heading changes in freespace. We present a new path-smoothing algorithm based on “string pulling” and show experimentally that it consistently finds shorter paths than the greedy algorithm and produces paths with no heading changes in freespace.