TPS-A*: Certifiable Collision Detection Planning for Arbitrary-Shape Vehicles
What happened
Jose Luis Blanco-Claraco and other authors released the TPS-A* lattice path planner: its edges consist of kinematically feasible trajectories generated by a parameterized trajectory generator, and collision detection is performed in trajectory parameter space. The authors state that a grid precomputed by footprint needs to traverse local obstacles only once to return a certifiable free distance for each candidate trajectory, making the per-node collision cost independent of footprint complexity and the number of trajectories. The authors prove that the grid does not overestimate the free distance of continuous swept, possibly non-convex footprints. In tests on 300 cluttered worlds, using real footprints and with all planners given the same goal poses, the method returned a collision-free goal pose for every query, with a median runtime of 3 milliseconds on an AMD Ryzen 7 2700X. The above performance and proof are statements made by the authors in the paper.
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- arXiv cs.ROTPS-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.
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