Accelerated A* Trajectory Planning: Grid based Path Planning Comparison

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00163361" target="_blank" >RIV/68407700:21230/09:00163361 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Accelerated A* Trajectory Planning: Grid based Path Planning Comparison
Original language description
The contribution of the paper is a high performance pathplanning algorithm designed to be used within a multi-agent planning framework solving a UAV collision avoidance problem. Due to the lack of benchmark examples and available algorithms for 3D+time planning, the algorithm performance has been compared in the classical domain of path planning in grids with blocked and unblocked cells. The Accelerated A* algorithm has been compared against the Theta* path planner, Rapid-Exploring Random Trees-based planners and the original A* searching in graphs providing the shortest any-angle paths. Experiments have shown that Accelerated A* finds the shortest paths in all scenarios including many randomized configurations. Experiments document that Accelerated A*is slower than Theta* and RRT-based planers in many cases, but it is faster than the original A*.
Czech name
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Czech description
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Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 19th International Conference on Automated Planning & Scheduling/ 4th Workshop on Planning and Plan Execution for Real-World Systems
ISBN
978-1-57735-407-9
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
AAAI Press
Place of publication
Menlo Park, California
Event location
Thessaloniki
Event date
Sep 16, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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