Abstract Augmented Lazy Theta*: Applying Graph Abstractions to Trajectory Planning with Speed-Limit Constraints
Peter J. Gregory, Lukáš Chrpa · University of Huddersfield Repository (University of Huddersfield) · 2014
Trajectory planning is a generalisation of path planning in which velocity is also taken into consideration. Considering velocity, in the context of a real-world system such as a robotic vehicle, means considering physical constraints such as the speed limit constraints when steering the vehicle. One of the recent algorithms for solving this type of planning problem is Augmented Lazy Theta*. In this work we introduce the trajectory planner Abstract Augmented Lazy Theta*. This planner uses a combination of abstraction and relaxation to reduce the search space of Augmented Lazy Theta*. We demonstrate that Abstract Augmented Lazy Theta* significantly improves the time performance of Augmented Lazy Theta* whilst retaining the same overall solution quality. Additionally, we show that Abstract Augmented Lazy Theta* performs competitively with another state-of-the-art trajectory planning algorithm, the RRT* algorithm, by demonstrating significantly better