TPS-A*: Path Planning for Any-Shape Vehicles with Certified Collision Checking in Trajectory Parameter Space

The authors propose TPS-A*, a lattice planner whose edges are kinematically feasible trajectories produced by parameterized trajectory generators, with certified collision checking performed in trajectory parameter space. A grid precomputed per footprint needs only a single pass over local obstacles to return a certified free distance for every candidate trajectory, making the per-node collision cost independent of footprint complexity and trajectory count.