Optimal Path Planning Through a Sequence of Waypoints

Mithun Goutham; Stephen Boyle; Meghna Menon; Shankar Mohan; Sarah G. Garrow; Stephanie Stockar

RA-L 202311 citations

Optimal Path Planning Through a Sequence of Waypoints

Mithun Goutham, Stephen Boyle, Meghna Menon, Shankar Mohan, Sarah G. Garrow, Stephanie Stockar

Abstract

This letter presents a deterministic approach for finding the optimal path through a sequence of spatial waypoints while accounting for vertex or turn costs. A case study is presented where the proposed algorithm is used to determine the optimal path through a sequence of waypoints. This is then compared with the path obtained when considering only two consecutive waypoints at a time. Further, an approximation that uses three waypoints at a time in a staggered manner is described. This approach is shown to be computationally efficient and finds the optimal path even in cases with 2000 waypoints.

BibTeX

@inproceedings{ral2023_optimalpathplann,
  title = {Optimal Path Planning Through a Sequence of Waypoints},
  author = {Mithun Goutham and Stephen Boyle and Meghna Menon and Shankar Mohan and Sarah G. Garrow and Stephanie Stockar},
  booktitle = {RA-L 2023},
  year = {2023}
}