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cs.RO2024
Rapid Vector-based Any-angle Path Planning with Non-convex Obstacles
Yan Kai Lai
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight chec…
cs.RO2024
Evolving R2 to R2+: Optimal, Delayed Line-of-sight Vector-based Path Planning
Yan Kai Lai, Prahlad Vadakkepat, Cheng Xiang
A vector-based any-angle path planner, R2, is evolved in to R2+ in this paper. By delaying line-of-sight, R2 and R2+ search times are largely unaffected by the distance between the…
cs.RO2022
R2: Heuristic Bug-Based Any-angle Path-Planning using Lazy Searches
Yan Kai Lai, Prahlad Vadakkepat, Abdullah Al Mamun +2
R2 is a novel online any-angle path planner that uses heuristic bug-based or ray casting approaches to find optimal paths in 2D maps with non-convex, polygonal obstacles. R2 is com…