scholarly journals Any-Angle Path Planning

AI Magazine ◽  
2013 ◽  
Vol 34 (4) ◽  
pp. 85-107 ◽  
Author(s):  
Alex Nash ◽  
Sven Koenig
Keyword(s):  
Video Games ◽  
Path Planning ◽  
Shortest Path ◽  
Grid Cells ◽  
Grid Graph ◽  
Planning Algorithm ◽  
Planning Algorithms ◽  
Planning Methodology ◽  
Path Planning Algorithm

In robotics and video games, one often discretizes continuous terrain into a grid with blocked and unblocked grid cells and then uses path-planning algorithms to find a shortest path on the resulting grid graph. This path, however, is typically not a shortest path in the continuous terrain. In this overview article, we discuss a path-planning methodology for quickly finding paths in continuous terrain that are typically shorter than shortest grid paths. Any-angle path-planning algorithms are variants of the heuristic path-planning algorithm A* that find short paths by propagating information along grid edges (like A*, to be fast) without constraining the resulting paths to grid edges (unlike A*, to find short paths).

scholarly journals Crowd Simulation with Arrival Time Constraints

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1804
Author(s):  
Mankyu Sung ◽  
SeongKi Kim
Keyword(s):  
User Interface ◽  
Video Games ◽  
Path Planning ◽  
Computer Animation ◽  
City Planning ◽  
Crowd Simulation ◽  
Time Constraint ◽  
Order Constraints ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Finding collision-free paths for crowd simulation has been a core technique in video games and the film industry; it has drawn a great deal of attention from computer animation researchers for several decades. Additionally, theoretical modeling of pedestrian has been a hot topic in physics as well because it allows us to predict any architectural failure of buildings and many city planning problems. However, the existing studies for path planning cannot guarantee the arrival order, which is critical in many cases, such as arrival symmetry of the characters within video games or films. To resolve this issue, a path planning algorithm has been developed with a novel method for satisfying the arrival-order constraints. The time constraint we suggest is the temporal duration for each character, specifying the order in which they arrive at their target positions. In addition to the algorithm that guarantees the arrival order of objects, a new user interface is suggested for setting up the arrival order. Through several experiments, the proposed algorithm was verified, and can successfully find collision-free paths, while satisfying the time constraint set by the new user interface. Given the available literature, the suggested algorithm and the interface are the first that support arrival order, and their usability is proven by user studies.

Adaptive Path Planning for Cleaning Robots Considering Dust Distribution

2018 ◽  
Vol 30 (1) ◽  
pp. 5-14 ◽  
Author(s):  
Takahiro Sasaki ◽  
Guillermo Enriquez ◽  
Takanobu Miwa ◽  
Shuji Hashimoto ◽  
◽  
...  
Keyword(s):  
Path Planning ◽  
Entire Space ◽  
Human Behaviors ◽  
Cleaning Robot ◽  
Planning Algorithm ◽  
Planning Algorithms ◽  
Cleaning Robots ◽  
Dust Distribution ◽  
Path Planning Algorithm

Path-planning algorithms for cleaning robots typically focus on how the robots can cover an entire space while minimizing overlapping or uncleaned areas. However, when considering actual environments, the distribution of dust and dirt is not uniform and has some specific features according to the shape of the environment and human behaviors. Therefore, if a cleaning robot plans its path while taking this distribution into consideration, it can clean the area more efficiently. In this paper, we present a novel path-planning algorithm for cleaning robots that prioritizes regions with large quantities of dirt and sorts them. The effectiveness of the proposed algorithm was examined through experimental simulations.

scholarly journals A Locking Sweeping Method Based Path Planning for Unmanned Surface Vehicles in Dynamic Maritime Environments

2020 ◽  
Vol 8 (11) ◽  
pp. 887
Author(s):  
Jiayuan Zhuang ◽  
Jing Luo ◽  
Yuanchang Liu
Keyword(s):  
Path Planning ◽  
Unmanned Surface Vehicles ◽  
Intelligent Decision Making ◽  
Moving Obstacles ◽  
Time Operation ◽  
Real Time Operation ◽  
Planning Algorithm ◽  
Sweeping Method ◽  
Planning Algorithms ◽  
Path Planning Algorithm

Unmanned surface vehicles (USVs) are new marine intelligent platforms that can autonomously operate in various ocean environments with intelligent decision-making capability. As one of key technologies enabling such a capability, path planning algorithms underpin the navigation and motion control of USVs by providing optimized navigational trajectories. To accommodate complex maritime environments that include various static/moving obstacles, it is important to develop a computational efficient path planning algorithm for USVs so that real-time operation can be effectively carried out. This paper therefore proposes a new algorithm based on the fast sweeping method, named the locking sweeping method (LSM). Compared with other conventional path planning algorithms, the proposed LSM has an improved computational efficiency and can be well applied in dynamic environments that have multiple moving obstacles. When generating an optimal collision-free path, moving obstacles are modelled with ship domains that are calculated based upon ships’ velocities. To evaluate the effectiveness of the algorithm, particularly the capacity in dealing with practical environments, three different sets of simulations were undertaken in environments built using electronic nautical charts (ENCs). Results show that the proposed algorithm can effectively cope with complex maritime traffic scenarios by generating smooth and safe trajectories.

scholarly journals A Survey of Path Planning Algorithms for Mobile Robots

Vehicles ◽  
2021 ◽  
Vol 3 (3) ◽  
pp. 448-468
Author(s):  
Karthik Karur ◽  
Nitin Sharma ◽  
Chinmay Dharmatti ◽  
Joshua E. Siegel
Keyword(s):  
Path Planning ◽  
Embedded System ◽  
Mobile Robots ◽  
Optimal Algorithm ◽  
Constrained Systems ◽  
Autonomous Cars ◽  
Planning Algorithm ◽  
Planning Algorithms ◽  
Point To Point ◽  
Path Planning Algorithm

Path planning algorithms are used by mobile robots, unmanned aerial vehicles, and autonomous cars in order to identify safe, efficient, collision-free, and least-cost travel paths from an origin to a destination. Choosing an appropriate path planning algorithm helps to ensure safe and effective point-to-point navigation, and the optimal algorithm depends on the robot geometry as well as the computing constraints, including static/holonomic and dynamic/non-holonomically-constrained systems, and requires a comprehensive understanding of contemporary solutions. The goal of this paper is to help novice practitioners gain an awareness of the classes of path planning algorithms used today and to understand their potential use cases—particularly within automated or unmanned systems. To that end, we provide broad, rather than deep, coverage of key and foundational algorithms, with popular algorithms and variants considered in the context of different robotic systems. The definitions, summaries, and comparisons are relevant to novice robotics engineers and embedded system developers seeking a primer of available algorithms.

scholarly journals Tide-Inspired Path Planning Algorithm for Autonomous Vehicles

2021 ◽  
Vol 13 (22) ◽  
pp. 4644
Author(s):  
Heba Kurdi ◽  
Shaden Almuhalhel ◽  
Hebah Elgibreen ◽  
Hajar Qahmash ◽  
Bayan Albatati ◽  
...  
Keyword(s):  
Path Planning ◽  
Shortest Path ◽  
Execution Time ◽  
Autonomous Vehicles ◽  
The Moon ◽  
Breadth First Search ◽  
The Earth ◽  
Planning Algorithm ◽  
Np Hard Problem ◽  
Path Planning Algorithm

With the extensive developments in autonomous vehicles (AV) and the increase of interest in artificial intelligence (AI), path planning is becoming a focal area of research. However, path planning is an NP-hard problem and its execution time and complexity are major concerns when searching for optimal solutions. Thus, the optimal trade-off between the shortest path and computing resources must be found. This paper introduces a path planning algorithm, tide path planning (TPP), which is inspired by the natural tide phenomenon. The idea of the gravitational attraction between the Earth and the Moon is adopted to avoid searching blocked routes and to find a shortest path. Benchmarking the performance of the proposed algorithm against rival path planning algorithms, such as A*, breadth-first search (BFS), Dijkstra, and genetic algorithms (GA), revealed that the proposed TPP algorithm succeeded in finding a shortest path while visiting the least number of cells and showed the fastest execution time under different settings of environment size and obstacle ratios.

scholarly journals A Novel Heuristic Emergency Path Planning Method Based on Vector Grid Map

2021 ◽  
Vol 10 (6) ◽  
pp. 370
Author(s):  
Bowen Yang ◽  
Jin Yan ◽  
Zhi Cai ◽  
Zhiming Ding ◽  
Dongze Li ◽  
...  
Keyword(s):  
Path Planning ◽  
Intelligent Transportation Systems ◽  
Road Network ◽  
Transportation Systems ◽  
The Road ◽  
Planning Framework ◽  
Planning Algorithm ◽  
Set Up ◽  
Planning Methodology ◽  
Path Planning Algorithm

Emergency path planning technology is one of the research hotspots of intelligent transportation systems. Due to the complexity of urban road networks and congested road conditions, emergency path planning is very difficult. Road congestion caused by urban emergencies directly affects the original road network structure. In this way, the static weight of the original road network is no longer suitable as the basis for path recommendation. To handle the dynamic situational road network, an equidistant grid emergency path planning framework will be designed. A novel situation grid road network model, based on situation information, is proposed and applied to an equidistant grid emergency path planning framework. A situational grid heuristic search will be proposed methodology based on this model, which can be used to detect the vehicles passing around the congestion area grid and the road to the destination in the shortest time. In the path planning methodology, a grid inspired search strategy based on quaternion function is included, which can make the algorithm converge to the target grid quickly. Three graph acceleration algorithms are proposed to improve the search efficiency of path planning algorithm. Finally, this paper will set up three experiments to verify our proposed method.

scholarly journals Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles

2019 ◽  
Vol 72 (04) ◽  
pp. 850-874 ◽  
Author(s):  
Hanlin Niu ◽  
Al Savvaris ◽  
Antonios Tsourdos ◽  
Ze Ji
Keyword(s):  
Path Planning ◽  
Voronoi Diagram ◽  
Shortest Path ◽  
Performance Comparison ◽  
Computational Time ◽  
Planning Problem ◽  
Planning Algorithm ◽  
Quantitative Results ◽  
Path Planning Algorithm

In this paper, a novel Voronoi-Visibility (VV) path planning algorithm, which integrates the merits of a Voronoi diagram and a Visibility graph, is proposed for solving the Unmanned Surface Vehicle (USV) path planning problem. The VM (Voronoi shortest path refined by Minimising the number of waypoints) algorithm was applied for performance comparison. The VV and VM algorithms were compared in ten Singapore Strait missions and five Croatian missions. To test the computational time, a high-resolution, large spatial dataset was used. It was demonstrated that the proposed algorithm not only improved the quality of the Voronoi shortest path but also maintained the computational efficiency of the Voronoi diagram in dealing with different geographical scenarios, while also keeping the USV at a configurable clearance distance c from coastlines. Quantitative results were generated by comparing the Voronoi, VM and VV algorithms in 2,000 randomly generated missions using the Singapore dataset.

scholarly journals A Composite Metric Routing Approach for Energy-Efficient Shortest Path Planning on Natural Terrains

2021 ◽  
Vol 11 (15) ◽  
pp. 6939
Author(s):  
Mohamed Saad ◽  
Ahmed I. Salameh ◽  
Saeed Abdallah ◽  
Ali El-Moursy ◽  
Chi-Tsun Cheng
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Shortest Path ◽  
Energy Cost ◽  
Energy Efficient ◽  
Cost Minimization ◽  
Running Time ◽  
Path Distance ◽  
Planning Algorithm ◽  
Path Planning Algorithm

This paper explores the problem of energy-efficient shortest path planning on off-road, natural, real-life terrain for unmanned ground vehicles (UGVs). We present a greedy path planning algorithm based on a composite metric routing approach that combines the energy consumption and distance of the path. In our work, we consider the Terramechanics between the UGV and the terrain soil to account for the wheel sinkage effect, in addition to the terrain slope and soil deformation limitations in the development of the path planning algorithm. As benchmarks for comparison, we use a recent energy-cost minimization approach, in addition to an ant colony optimization (ACO) implementation. Our results indicate that the proposed composite metric routing approach outperforms the state-of-the-art energy-cost minimization method in terms of the resulting path distance, with a negligible increase in energy consumption. Moreover, our results indicate also that the proposed greedy algorithm strongly outperforms the ACO implementation in terms of the quality of the paths obtained and the algorithm running time. In fact, the running time of our proposed algorithm indicates its suitability for large natural terrain graphs with thousands of nodes and tens of thousands of links.

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