Obstacle clearance in state space is an important optimization objective in path planning because it can result in safe paths. This technical report presents admissible solution- and path-cost heuristics for this objective, which can be used to improve the performance of informed path planning algorithms.

翻译：国家空间的清除障碍是路径规划中一个重要的优化目标,因为它可以带来安全的道路。 这份技术报告提出了实现这一目标的可接受解决方案和路径成本的超常方法,可用于改进知情路径规划算法的性能。