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Related Experiment Video

Updated: Jun 17, 2026

Trajectory Data Analyses for Pedestrian Space-time Activity Study

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Published on: February 25, 2013

Safe Trajectory Planning for Incremental Robots Based on a Spatiotemporal Variable-Step-Size A* Algorithm.

Haonan Hu¹, Xin Wen¹, Jiazun Hu¹

¹School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen 518107, China.

Sensors (Basel, Switzerland)

|June 19, 2024

Summary

This study introduces a novel trajectory planning method for mobile robots using a spatiotemporal A* algorithm. The approach ensures safe, efficient pathfinding in complex, multi-robot environments.

Keywords:

collision avoidance incremental robot mobile robot multi-agent robotic systems trajectory planning

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Area of Science:

Robotics
Artificial Intelligence
Motion Planning

Background:

Safe trajectory planning is crucial for mobile robots in complex environments.
Existing methods struggle with multi-robot coordination and dynamic scenarios.

Purpose of the Study:

To develop an efficient and safe trajectory planning method for incremental, wheeled, mobile robots.
To address challenges in complex motion scenarios involving multiple robots.

Main Methods:

A spatiotemporal variable-step-size A* algorithm for collision-avoiding trajectory search.
Variable time steps to ensure target speed completion.
B-spline curve instantiation and numerical optimization for smooth trajectory generation.

Main Results:

The proposed method demonstrated higher applicability and efficiency in simulations.
Successful trajectory planning in complex, dynamic, multi-robot scenarios.

Conclusions:

The spatiotemporal variable-step-size A* algorithm offers a superior solution for incremental robot trajectory planning.
The method enhances safety and efficiency in complex operational environments.