Generalized Wavefront Path Planning

A generalization of the wavefront path planning algorithm with respect to the choice of grid and the cost function is presented. Furthermore, it is shown that this generalization limits to the typical wavefront path planning algorithm in the simplest case. This algorithm achieves a local optimum, and its advantages are demonstrated through simulation. In particular, the adaptive grid size allows for better navigation around corners, while avoiding excessive computations related to fine grid resolution in areas without obstacles. The expanded nature of the cost function allows for better specification of navigational constraints. In essence, it is shown that the proposed method can effectively handle scenarios that would be difficult for typical wavefront path planning.