Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic obstacles that populate the environment. Original SIPP algorithm relies on the assumption that the agent is able to stop instantaneously. However, this assumption often does not hold in practice, e.g. a mobile robot moving with a cruising speed is not able to stop immediately but rather requires gradual deceleration to a full stop that takes time. In other words, the robot is subject to kinodynamic constraints. Unfortunately, as we show in this work, in such a case original SIPP is incomplete. To this end, we introduce a novel variant of SIPP that is provably complete and optimal for planning with acceleration/deceleration. In the experimental evaluation we show that the key property of the original SIPP still holds for the modified version -- it performs much less expansions compared to A* and, as a result, is notably faster.

翻译：安全区间路径规划（SIPP）是一种用于解决单智能体路径搜索问题的强大算法，其应用场景为智能体受限于图结构，且图中某些顶点/边在特定时间区间内被环境中的动态障碍物阻塞。原始SIPP算法假设智能体能瞬时停止。然而，这一假设在实际中往往不成立，例如以巡航速度移动的移动机器人无法立即停止，而需要逐渐减速至完全停止，即机器人受到运动学约束。遗憾的是，正如本研究所示，在此类情况下原始SIPP算法是不完备的。为此，我们提出了一种新颖的SIPP变体，该算法在加速/减速规划中被证明具有完备性和最优性。实验评估表明，原始SIPP的关键特性在改进版本中依然成立——相较于A*算法，其扩展次数显著减少，运行速度明显更快。