Theta* Automated Path Planning

Overview

Developed and implemented a penalty-optimized Theta* algorithm for AMR path planning to address inefficiencies in standard grid-based navigation.

The Challenge

Standard A* creates jagged paths constrained to grids, while post-smoothing is computationally expensive. The system required smooth, natural paths in real-time.

The Solution

Implemented Theta* with custom cost penalties for proximity to static obstacles and dynamic zones. Optimized for any-angle path planning to reduce path length and turning maneuvers.

Key Results

• 83% reduction in routing complexity
• Generated smooth, any-angle trajectories
• Reduced travel time and mechanical wear on AMRs
• Real-time replanning capabilities enabled