The document discusses path planning algorithms like A* search and techniques for improving path quality and efficiency. It describes using heuristics and hierarchical planning to make A* faster while still producing optimal or near-optimal paths. It also covers pre-computing all-pair shortest paths to avoid replanning for static environments.

4. A* Search (Straight-Line-Distance Heuristic)

12. Interpolation Schemes Interpolating Hermite B-Spline

14. Chase the Point Demo

17. Using Turning Radius Fixed start direction, any finish direction: 2 options Fixed direction at both ends: 4 options Curved paths are used to compute cost, and also to determine whether the path is valid (avoids obstacles)

23. Hierarchical Planning Example Plan this first Then plan each room (second room shown)

28. Example A B C D E F G - B-A C-A D-B E-C F-C G-E A B C D E F G A-B - C-A D-B E-D F-E G-D A-C B-A - D-E E-C F-C G-E A-B B-D C-E - E-D F-E G-D A-C B-D C-E D-E - F-E G-E A-C B-D C-F D-E E-F - G-F A-C B-D C-E D-G E-G F-G - A B C D E F G If I’m at: And I want to go to: To get from A to G: + A-C + C-E + E-G