An exact geometry-based algorithm for path planning

• Autorzy: Jafarzadeh H. , Fleming C. H.

Identyfikatory

DOI

10.2478/amcs-2018-0038

• Języki publikacji: EN

Abstrakty

EN

A novel, exact algorithm is presented to solve the path planning problem that involves finding the shortest collision-free path from a start to a goal point in a two-dimensional environment containing convex and non-convex obstacles. The proposed algorithm, which is called the shortest possible path (SPP) algorithm, constructs a network of lines connecting the vertices of the obstacles and the locations of the start and goal points which is smaller than the network generated by the visibility graph. Then it finds the shortest path from start to goal point within this network. The SPP algorithm generates a safe, smooth and obstacle-free path that has a desired distance from each obstacle. This algorithm is designed for environments that are populated sparsely with convex and nonconvex polygonal obstacles. It has the capability of eliminating some of the polygons that do not play any role in constructing the optimal path. It is proven that the SPP algorithm can find the optimal path in O(nn^’2) time, where n is the number of vertices of all polygons and n’ is the number of vertices that are considered in constructing the path network (n’ ≤ n). The performance of the algorithm is evaluated relative to three major classes of algorithms: heuristic, probabilistic, and classic. Different benchmark scenarios are used to evaluate the performance of the algorithm relative to the first two classes of algorithms: GAMOPP (genetic algorithm for multi-objective path planning), a representative heuristic algorithm, as well as RRT (rapidly-exploring random tree) and PRM (probabilistic road map), two well-known probabilistic algorithms. Time complexity is known for classic algorithms, so the presented algorithm is compared analytically.

Słowa kluczowe

EN

shortest possible path algorithm; path planning; collision free path

PL

algorytm k najkrótszych ścieżek; planowanie ścieżki; ścieżka bezkolizyjna

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 3
• Strony: 493--504
• Opis fizyczny: Bibliogr. 36 poz., rys., tab.

Twórcy

autor

Jafarzadeh H.

• Department of Systems and Information Engineering, University of Virginia, 151 Engineer’s Way, Charlottesville, VA, USA

autor

Fleming C. H.

• Department of Systems and Information Engineering, University of Virginia, 151 Engineer’s Way, Charlottesville, VA, USA

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).