I render context path to attribute of link tag with id="contextPahtHolder" and then obtain it in JS code. For example:
<html>
<head>
<link id="contextPathHolder" data-contextPath="${pageContext.request.contextPath}"/>
<body>
<script src="main.js" type="text/javascript"></script>
</body>
</html>
main.js
var CONTEXT_PATH = $('#contextPathHolder').attr('data-contextPath');
$.get(CONTEXT_PATH + '/action_url', function() {});
If context path is empty (like in embedded servlet container istance), it will be empty string. Otherwise it contains contextPath string