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The Classical 2D Find-Path Problem : Improving Search Efficiency By Using Orientation Heuristics

The paper introduces some improvements over an heuristic approach previously proposed by the authors to tackle the problem of finding a collision-free path for a rigid body amidst a set of fixed obstacles in a 2D environment. While the former approach was based on the guiding of the cartesian degrees of freedom of the mobile body during the search for a path in configuration space, the new one resorts also to the guiding of the rotational degree of freedom of the mobile body. This is a natural extension of the previous approach which, while preserving its efficiency, leads to paths with better clearance properties. To shorten of the resulting solution paths and to improve their smoothness, relaxation techniques are used and shown to convey interesting possibilities as a path planning postprocessing step.