Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric
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来源：arXiv cs.RO发布时间待核实
arXiv:2505.23197v4 Announce Type: replace Abstract: Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search algorithm that dynamically balances safety and optimality via adaptive heuristic weighting.