Optimal any-angle path planning in static and dynamic environments
Any-angle path planning extends traditional graph-based path planning by allowing movement between any pair of vertices, rather than being restricted by predefined edges. It can find straighter and shorter paths in continuous space with graphs, making it particularly suitable for navigation in open areas. Many any-angle path-planning algorithms have been proposed, but only a few can guarantee optimal solutions. To address this challenge, this article focuses on optimal any-angle path planning on grids and introduces two general techniques that accelerate computation while preserving optimality in both static and dynamic environments: 1) elliptical forward expansion, which leverages ellips...
| Authors | Yiyuan Zou, Clark Borst |
|---|---|
| Primary category | cs.RO |
| Published | 30 June 2026 |
| Last updated at source | 13 October 2026 |
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