AbstractT. Uras and S. Koenig. An Empirical Comparison of Any-Angle Path-Planning Algorithms [Short Paper]. In Symposium on Combinatorial Search (SoCS), pages 206-210, 2015.
Abstract: We compare five any-angle path-planning algorithms, Theta*, Block A*, Field D*, ANYA, and Any-Angle Subgoal Graphs in terms of solution quality and runtime. Any-angle path-planning is a fairly new research area, and no direct comparison exists between these algorithms. We implement each algorithm from scratch and use similar implementations to provide a fair comparison.
Our code of several any-angle path planning algorithms (including Theta*) is available. If you use the code, please reference it as follows in your publications: 'T. Uras and S. Koenig. An Empirical Comparison of Any-Angle Path-Planning Algorithms. In Symposium on Combinatorial Search, 2015. Code available at: http://idm-lab.org/anyangle'
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