论文标题
重新访问有限的临时安全间隔路径计划
Revisiting Bounded-Suboptimal Safe Interval Path Planning
论文作者
论文摘要
安全间隔路径计划（SIPP）是一种在存在动态障碍的情况下找到路径的强大算法。 SIPP返回证明是最佳解决方案。但是，在SIPP的许多实际应用中，例如机器人的路径规划，人们希望为较短的计划时间折衷。在本文中，我们探讨了建立有界的SIPP并讨论其优点和缺点的不同方式。我们通过实验比较了SIPP的不同界限版本。尽管没有通用赢家，但结果提供了有关何时应使用每种方法的见解。
Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots, one would like to trade-off optimality for shorter planning time. In this paper we explore different ways to build a bounded-suboptimal SIPP and discuss their pros and cons. We compare the different bounded-suboptimal versions of SIPP experimentally. While there is no universal winner, the results provide insights into when each method should be used.
