A travel-time optimizing edge weighting scheme for dynamic re-planning

Andrew Feit, Lenrik Toval, Raffi Hovagimian, Rachel Greenstadt

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    The success of autonomous vehicles has made path planning in real, physically grounded environments an increasingly important problem. In environments where speed matters and vehicles must maneuver around obstructions, such as autonomous car navigation in hostile environments, the speed with which real vehicles can traverse a path is often dependent on the sharpness of the corners on the path as well as the length of path edges. We present an algorithm that incorporates the use of the turn angle through path nodes as a limiting factor for vehicle speed. Vehicle speed is then used in a time-weighting calculation for each edge. This allows the path planning algorithm to choose potentially longer paths, with less turns in order to minimize path traversal time. Results simulated in the Breve environment show that travel time can be reduced over the solution obtained using the Anytime D* Algorithm by approximately 10% for a vehicle that is speed limited based on turn rate.

    Original languageEnglish (US)
    Title of host publicationBridging the Gap Between Task and Motion Planning - Papers from the 2010 AAAI Workshop, Technical Report
    Number of pages7
    StatePublished - 2010
    Event2010 AAAI Workshop - Atlanta, GA, United States
    Duration: Jul 11 2010Jul 11 2010

    Publication series

    NameAAAI Workshop - Technical Report


    Conference2010 AAAI Workshop
    Country/TerritoryUnited States
    CityAtlanta, GA

    ASJC Scopus subject areas

    • General Engineering


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