Revisiting Bounded-Suboptimal Safe Interval Path Planning

• URL: http://arxiv.org/abs/2006.01195v1
• Date: Mon, 1 Jun 2020 18:42:52 GMT
• Title: Revisiting Bounded-Suboptimal Safe Interval Path Planning
• Authors: Konstantin Yakovlev, Anton Andreychuk, Roni Stern
• Abstract summary: Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. In many practical applications of SIPP such as path planning for robots, one would like to trade-off optimality for shorter planning time.
• Score: 16.24691505268453
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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