Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning

📝 Original Info

• Title: Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning
• ArXiv ID: 2504.05921
• Date: 2025-04-08
• Authors: John Doe, Jane Smith, Michael Johnson

📝 Abstract

In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of optimal paths, resulting in a new partitioning of the state space and a further reduction in the minimal set of viable paths. We revisit and reimplement classic methodologies from the literature, which lack contemporary open-source implementations, to serve as benchmarks for evaluating our method. Additionally, we address the under-specified Reeds-Shepp planning problem where the final orientation is unspecified. We perform exhaustive experiments to validate our solutions. Compared to the modern C++ implementation of the original Reeds-Shepp solution in the Open Motion Planning Library, our method demonstrates a 15x speedup, while classic methods achieve a 5.79x speedup. Both approaches exhibit machine-precision differences in path lengths compared to the original solution. We release our proposed C++ implementations for both the accelerated and under-specified Reeds-Shepp problems as open-source code.

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