Expand description
Time-Based Path Planning with dynamic obstacles
Implements Space-Time A* and Safe Interval Path Planning (SIPP) on a 2-D grid where obstacles move over discrete time steps. The module also includes a priority-based multi-agent planner that sequences single-agent plans to avoid inter-agent collisions.
References:
- Silver (2005), “Cooperative Pathfinding”
- Phillips & Likhachev (2011), “SIPP: Safe Interval Path Planning for Dynamic Environments”, ICRA 2011
Structs§
- Agent
Task - Start and goal for a single agent.
- Grid
- A 2-D grid with a time dimension that records obstacle occupancy.
- Interval
- A closed time interval
[start, end]. - Node
- A search node in the space-time graph.
- Node
Path - A planned path as a sequence of nodes with position-at-time lookup.
- Position
- A discrete 2-D grid position.
- Priority
Based Planner - Priority-based multi-agent planner.
- Safe
Interval Planner - Safe Interval Path Planner (SIPP).
- Space
TimeA Star - Space-Time A* planner for a single agent on a grid with dynamic obstacles.
Enums§
- Obstacle
Arrangement - Describes how obstacles are arranged in the grid.
- Single
Agent Algorithm - Which single-agent algorithm to use inside the multi-agent planner.