Theta*: Any-angle path planning on grids

Alex Nash, Kenny Daniel, Sven Koenig, Ariel Feiner

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

202 Scopus citations

Abstract

Grids with blocked and unblocked cells are often used to represent terrain in computer games and robotics. However, paths formed by grid edges can be sub-optimal and unrealistic looking, since the possible headings are artificially constrained. We present Thêta*, a variant of A*, that propagates information along grid edges without constraining the paths to grid edges. Theta* is simple, fast and finds short and realistic looking paths. We compare Theta* against both Field D*, the only other variant of A* that propagates information along grid edges without constraining the paths to grid edges, and A* with post-smoothed paths. Although neither path planning method is guaranteed to find shortest paths, we show experimentally that Theta* finds shorter and more realistic looking paths than either of these existing techniques.

Original languageEnglish
Title of host publicationAAAI-07/IAAI-07 Proceedings
Subtitle of host publication22nd AAAI Conference on Artificial Intelligence and the 19th Innovative Applications of Artificial Intelligence Conference
Pages1177-1183
Number of pages7
StatePublished - 28 Nov 2007
EventAAAI-07/IAAI-07 Proceedings: 22nd AAAI Conference on Artificial Intelligence and the 19th Innovative Applications of Artificial Intelligence Conference - Vancouver, BC, Canada
Duration: 22 Jul 200726 Jul 2007

Publication series

NameProceedings of the National Conference on Artificial Intelligence
Volume2

Conference

ConferenceAAAI-07/IAAI-07 Proceedings: 22nd AAAI Conference on Artificial Intelligence and the 19th Innovative Applications of Artificial Intelligence Conference
Country/TerritoryCanada
CityVancouver, BC
Period22/07/0726/07/07

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