Batch-Theta∗ for path planning to the best goal in a goal set

Title:	Batch-Theta∗ for path planning to the best goal in a goal set
Authors:	Dang, Viet-Hung Nguyen, Duc Thang Hoang, Huu Viet Le, Anh Tuan
Keywords:	Theta∗;line-of-sight;Computer graphics;Robot programming;Batch-Theta;Motion planning;goal set;;Cameras
Issue Date:	2015
Publisher:	Robotics Society of Japan
Citation:	Scopus

URI:	http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1073121?journalCode=tadr20 http://repository.vnu.edu.vn/handle/VNU_123/34192

The development of 3D cameras and many navigation-supporting sensors has recently enabled robots to build their working maps and navigate accurately, making path planning popular not just on computer graphics, but in real environments as well. Pursuing the solutions for robot path planning, this paper presents a variant of searching method Theta∗ for choosing the best goal among given goals and the lowest-cost path to it, called Batch-Theta∗. The novelty lies at the proposed line-of-sight checking function during the searching process and the manner that the method handles the batch of goals during one search instead of repeatedly considering a single goal or blindly doing the exhausted search. The analysis and simulations show that the proposed Batch-Theta∗ efficiently finds the lowest-cost path to the best goal in a given goal set under Theta's mechanism.