Expand description
Lazy Theta* path planning algorithm
Lazy Theta* defers line-of-sight checks until node expansion, reducing the number of expensive visibility tests. When a node is generated as a neighbor, it optimistically assumes line-of-sight to the grandparent exists. When the node is later popped for expansion, the line-of-sight is verified; if it fails, the node’s parent is corrected to the grid neighbor with the lowest g-value.
Reference: Nash, A., Koenig, S., & Tovey, C. (2010). “Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D”
Structs§
- Lazy
Theta Star Config - Configuration for Lazy Theta* planner
- Lazy
Theta Star Planner