High Performance State Lattice Planning Using Heuristic Look-Up Tables

Abstract- This paper presents a solution to the problem of finding an effective yet admissible heuristic function for A * by precomputing a look-up table of solutions. This is necessary because traditional heuristic functions such as Euclidean distance often produce poor performance for certain problems. In this case, the technique is applied to the state lattice, which is used for full state space motion planning. However, the approach is applicable to many applications of heuristic search algorithms. The look-up table is demonstrated to be feasible to generate and store. A principled technique is presented for selecting which queries belong in the table. Finally, the results are validated through testing on a variety of path planning problems. Index Terms – motion planning, state lattice, heuristic, nonholonomic, mobile robot I