Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic obstacles that populate the environment. Original SIPP algorithm relies on the assumption that the agent is able to stop instantaneously. However, this assumption often does not hold in practice, e.g. a mobile robot moving with a cruising speed is not able to stop immediately but rather requires gradual deceleration to a full stop that takes time. In other words, the robot is subject to kinodynamic constraints. Unfortunately, as we show in this work, in such a case original SIPP is incomplete. To this end, we introduce a novel variant of SIPP that is provably complete and optimal for planning with acceleration/deceleration. In the experimental evaluation we show that the key property of the original SIPP still holds for the modified version -- it performs much less expansions compared to A* and, as a result, is notably faster.
翻译:安全跨路程规划(SIPP)是一个强大的算法,用于解决单一试剂路径调查问题,当试剂局限于一个图表,而本图的某些脊椎/边缘由于环境的动态障碍而在某些时间间隔内被堵塞时段。 最初的SIPP算法基于一种假设,即代理剂能够瞬间停止。 然而,这一假设在实际中往往无法维持,例如,以巡航速度移动的移动机器人无法立即停止,而是需要逐渐减速,以完全停止,这需要时间。 换句话说, 机器人受到动力学限制。 不幸的是, 正如我们在这项工作中显示的那样, 原始的SIPPP是不完整的。 为此, 我们引入了一种新型的SIPP的变式, 以快速/ 减速的方式进行规划是相当完整和最佳的。 在实验性评估中,我们发现原SIPP的关键属性仍然保留在修改版本中, 与A* 相比, 它的扩展速度要小得多, 其速度也明显更快。