A*-Connect: Bounded suboptimal bidirectional heuristic search

摘要: The benefits of bidirectional planning over the unidirectional version are well established for motion in high-dimensional configuration spaces. While approaches have been employed with great success context sampling-based planners such as RRT-Connect, they not enjoyed popularity amongst search-based methods A*. systematic nature algorithms, which often leads to consistent and high-quality paths, also enforces strict conditions connection forward backward searches. Admissible heuristics searches developed, but their computational complexity is a deterrent. In this work, we leverage recent advances search inadmissible develop an algorithm called A*-Connect, much spirit RRT-Connect. A*-Connect uses fast approximation classic front-to-front heuristic from literature lead towards each other, while retaining theoretical guarantees on completeness bounded suboptimality. We validate manipulation navigation domains, comparing popular state-of-the-art algorithms. Our results indicate that can provide several times speedup maintaining high solution quality.