Balancing Safety and Optimality in Robot Path Planning: Algorithm and Metric

Source: arXiv cs.RO·2026-08-25 12:00Publish time unverified

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.