The letter presents Asymptotically Optimal A* (AOA*), a heuristically guided, sampling-based algorithm for motion planning without a steering function. AOA* is an attempt to adapt the A* algorithm for planning in a continuous search space while preserving the simplicity of the original A* and using a heuristic function as simple as an Euclidean distance. Using techniques such as adaptive cost-to-come-based pruning, open-list reinitialization, and adaptive blossom number adjustment, AOA* outperforms algorithms such as SST*, AO-RRT, and DIRT in terms of time to the first solution and convergence rate.

中文翻译：

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运动动力学规划的渐近最优 A*

这封信介绍了渐近最优 A* (AOA*)，这是一种启发式引导、基于采样的运动规划算法，无需转向功能。 AOA* 是一种尝试，使 A* 算法适应连续搜索空间中的规划，同时保留原始 A* 的简单性并使用像欧几里得距离一样简单的启发式函数。使用自适应基于成本的剪枝、开放列表重新初始化和自适应开花数量调整等技术，AOA* 在首次求解和收敛时间方面优于 SST*、AO-RRT 和 DIRT 等算法速度。