TPS-A*: Path Planning for Any-Shape Vehicles with Certified Collision Checking in Trajectory Parameter Space
Overview
This research introduces TPS-A*, a path planning algorithm designed for ground vehicles of any shape, utilizing certified collision checking within trajectory parameter space. The method precomputes a grid per footprint to ensure collision-free paths and bounded suboptimality independent of footprint complexity. Evaluated on 300 cluttered worlds, the planner solves queries in a median of three milliseconds on an AMD Ryzen 7 2700X, matching hybrid A* performance while avoiding obstacles and being nearly sixty times faster than other collision-free state-lattice planners. The system successfully handles non-convex footprints like forks, performs automated parking, navigates narrow doorways, and has been demonstrated driving a real robot across a university campus among people.
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Reported quantity · median execution time: 3 other · Basis not reported
“edian of three milliseconds on an AMD Ryzen 7 2700X, on par with hybrid A*, 45\% of whose paths overlap obstacles, and nearly sixty times faster than a state-lattice planner, the only other collision-free one; with position goals, eighty-nine times faster than hybrid A*. It matches hybrid A* in automated parking and on narrow doorways, docks a non-convex fork footprint that no convex model admits, and drove a real ro”
Exact source · revision 1Source owner not reported
Reported quantity · execution time comparison ratio: 60 other · Basis not reported · Differing source assertions
“edian of three milliseconds on an AMD Ryzen 7 2700X, on par with hybrid A*, 45\% of whose paths overlap obstacles, and nearly sixty times faster than a state-lattice planner, the only other collision-free one; with position goals, eighty-nine times faster than hybrid A*. It matches hybrid A* in automated parking and on narrow doorways, docks a non-convex fork footprint that no convex model admits, and drove a real ro”
Exact source · revision 1Source owner not reported
Reported quantity · execution time comparison ratio: 89 other · Basis not reported · Differing source assertions
“edian of three milliseconds on an AMD Ryzen 7 2700X, on par with hybrid A*, 45\% of whose paths overlap obstacles, and nearly sixty times faster than a state-lattice planner, the only other collision-free one; with position goals, eighty-nine times faster than hybrid A*. It matches hybrid A* in automated parking and on narrow doorways, docks a non-convex fork footprint that no convex model admits, and drove a real ro”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalTPS-A*: Path Planning for Any-Shape Vehicles with Certified Collision Checking in Trajectory Parameter Space
This research introduces TPS-A*, a path planning algorithm designed for ground vehicles of any shape, utilizing certified collision checking within trajectory parameter space. The method precomputes a grid per footprint to ensure collision-free paths and bounded suboptimality independent of footprint complexity. Evaluated on 300 cluttered worlds, the planner solves queries in a median of three milliseconds on an AMD Ryzen 7 2700X, matching hybrid A* performance while avoiding obstacles and being nearly sixty times faster than other collision-free state-lattice planners. The system successfully handles non-convex footprints like forks, performs automated parking, navigates narrow doorways, and has been demonstrated driving a real robot across a university campus among people.
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