Seven-League-Boots Algorithm for Path Planning in Configuration Spaces

摘要

In the past ten years, many algorithms for robot paths planning have beenpublished. Many of these algorithms use configuration spaces, in which the so called configuration of a robot can be represented by a single point. This means that the problem of path planning is reduced to the search for a path for a single point in configuration space. A new algorithm to find such a path is presented. The approach taken is to search within a hierarchically organized grid using the well known A(asterisk) algorithm in a bidirectional way.