Accelerated A* Trajectory Planning: Grid based Path Planning Comparison

Kód výsledku v 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>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Accelerated A* Trajectory Planning: Grid based Path Planning Comparison

Popis výsledku v původním jazyce

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*.

Název v anglickém jazyce

Accelerated A* Trajectory Planning: Grid based Path Planning Comparison

Popis výsledku anglicky

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*.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2009

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

—

Název nakladatele

AAAI Press

Místo vydání

Menlo Park, California

Místo konání akce

Thessaloniki

Datum konání akce

16. 9. 2009

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—