Explanation and Speedup Comparison of Advanced Path-planning Algorithms Presented on Two-dimensional Grid

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F22%3APU147638" target="_blank" >RIV/00216305:26210/22:PU147638 - isvavai.cz</a>

Výsledek na webu

<a href="https://mendel-journal.org/index.php/mendel" target="_blank" >https://mendel-journal.org/index.php/mendel</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.13164/mendel.2022.2.097" target="_blank" >10.13164/mendel.2022.2.097</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Explanation and Speedup Comparison of Advanced Path-planning Algorithms Presented on Two-dimensional Grid

Popis výsledku v původním jazyce

Path planning or network route planning problems are an important issue in AI, robotics, or computer games. Appropriate implementation and knowledge of advanced and classical path-planning algorithms can be important for both autonomous navigation systems and computer games. In this paper, we compare advanced path planning algorithms implemented on a two-dimensional grid. Advanced path planning algorithms, including pseudocode, are introduced. The experiments were performed in the Python environment, thus with a significant performance margin over C++ or Rust implementations. The main focus is on the speedup of the algorithms compared to a baseline method, which was chosen to be the well-known Dijkstra’s algorithm. All experiments correspond to trajectories on a two-dimensional grid, with variously defined constraints. The motion from each node corresponds to a Moore neighborhood, i.e., it is possible in eight directions. In this paper, three well-known path planning algorithms are described and compared: the Dijkstra, A* and A* /w Bounding Box. And two advanced methods are included, namely Jump Point Search (JPS), incorporated with the Bounding Box variant (JPS+BB), and Simple Subgoal (SS). These advanced methods clearly show their advantage in the context of the speed up of solution time.

Název v anglickém jazyce

Explanation and Speedup Comparison of Advanced Path-planning Algorithms Presented on Two-dimensional Grid

Popis výsledku anglicky

Path planning or network route planning problems are an important issue in AI, robotics, or computer games. Appropriate implementation and knowledge of advanced and classical path-planning algorithms can be important for both autonomous navigation systems and computer games. In this paper, we compare advanced path planning algorithms implemented on a two-dimensional grid. Advanced path planning algorithms, including pseudocode, are introduced. The experiments were performed in the Python environment, thus with a significant performance margin over C++ or Rust implementations. The main focus is on the speedup of the algorithms compared to a baseline method, which was chosen to be the well-known Dijkstra’s algorithm. All experiments correspond to trajectories on a two-dimensional grid, with variously defined constraints. The motion from each node corresponds to a Moore neighborhood, i.e., it is possible in eight directions. In this paper, three well-known path planning algorithms are described and compared: the Dijkstra, A* and A* /w Bounding Box. And two advanced methods are included, namely Jump Point Search (JPS), incorporated with the Bounding Box variant (JPS+BB), and Simple Subgoal (SS). These advanced methods clearly show their advantage in the context of the speed up of solution time.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Mendel Journal series

ISSN

1803-3814

e-ISSN

—

Svazek periodika

28

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

11

Strana od-do

97-107

Kód UT WoS článku

—

EID výsledku v databázi Scopus

2-s2.0-85145971181