Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices

arXiv:2609.31803v1 Announce Type: new Abstract: Autonomous navigation in dynamic environments is a critical challenge, particularly when spaces are shared with other mobile agents whose future trajectories are known. While traditional grid-based planners efficiently find collision-free paths, their reliance on stop-and-turn mechanics over $2^k$-connected grids produces piecewise-linear trajectories that are kinodynamically highly sub-optimal for differentially constrained robots. In this paper, we present an adaptation of Safe Interval Path Planning (SIPP) that operates on state lattices, utilizing precomputed, kinodynamically smooth motion primitives. To efficiently handle dynamic environments, we rasterize the spatiotemporal swept volumes of moving obstacles directly onto the grid, treating grid cells as atomic units of space, whose resolution is typically dictated by inherent localization noise. We perform a comprehensive comparative analysis between our lattice-based approach and $2^k$-connected grid planners across diverse topological environments. Our evaluation considers a broad spectrum of performance metrics, including planning time, path angularity, cumulative heading change (angle-over-length), and bending energy. The results demonstrate that while the expanded state space of lattice-based search increases computational overhead, it yields trajectories with significantly superior kinodynamic properties. Specifically, our method achieves a reachability comparable to highly connected grids while ensuring smooth, continuous, and physically executable paths ready for real-world deployment.

Abstract:Autonomous navigation in dynamic environments is a critical challenge, particularly when spaces are shared with other mobile agents whose future trajectories are known. While traditional grid-based planners efficiently find collision-free paths, their reliance on stop-and-turn mechanics over $2^k$-connected grids produces piecewise-linear trajectories that are kinodynamically highly sub-optimal for differentially constrained robots. In this paper, we present an adaptation of Safe Interval Path Planning (SIPP) that operates on state lattices, utilizing precomputed, kinodynamically smooth motion primitives. To efficiently handle dynamic environments, we rasterize the spatiotemporal swept volumes of moving obstacles directly onto the grid, treating grid cells as atomic units of space, whose resolution is typically dictated by inherent localization noise. We perform a comprehensive comparative analysis between our lattice-based approach and $2^k$-connected grid planners across diverse topological environments. Our evaluation considers a broad spectrum of performance metrics, including planning time, path angularity, cumulative heading change (angle-over-length), and bending energy. The results demonstrate that while the expanded state space of lattice-based search increases computational overhead, it yields trajectories with significantly superior kinodynamic properties. Specifically, our method achieves a reachability comparable to highly connected grids while ensuring smooth, continuous, and physically executable paths ready for real-world deployment.

Robotics (cs.RO)

arXiv:2609.31803 [cs.RO]

(or arXiv:2609.31803v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.31803 arXiv-issued DOI via DataCite (pending registration)

Agranovskiy, M. (2027). Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices. In: Interactive Collaborative Robotics. ICR 2026. Lecture Notes in Computer Science(), vol 16790. Springer, Cham

https://doi.org/10.1007/978-3-032-34387-1_29 DOI(s) linking to related resources

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Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices

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