Path length comparison in grid maps of planning algorithms: HCTNav, A* and Dijkstra

Eraghi, Nafiseh Osati; Lopez-Colino, Fernando; Castro, Ángel de; Garrido, Javier

doi:10.1109/dcis.2014.7035557

Cited by 12 publications

(6 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…A Ã is the worst technique as it requires a large computational effort. Eraghi et al 15 compared A Ã , Dijkstra and HCTLab research group's navigation algorithm (HCTNav) that have been proposed in the study by Pala et al 16 HCTNav algorithm is designed for low resources robots navigating in binary maps. HCTNav's concept is to combine the shortest-path search principles of the deterministic approaches with the obstacle detection and avoidance techniques of the reactive approaches.…”

Section: Comparative Studies Of Exact Methodsmentioning

confidence: 99%

Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

Châari

Koubâa

Bennaceur

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A Ã for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.

show abstract

Section: Comparative Studies Of Exact Methodsmentioning

confidence: 99%

Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

Châari

Koubâa

Bennaceur

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Furthermore, the coordinate for each row in the map belongs to the domain of , where the coordinate of every column in the map belongs to the domain of , where w is the rows number and m represents the columns number. The cell length is regarded as one unit ) 1 (  u and a cell size is sufficient for the blind person to turn around instead of moving outside it [56]. Transformation of the binary matrix into a 2D grid map is depicted in Figure 1.…”

Section: Indoor Environment Representationmentioning

confidence: 99%

A Novel Path Planning System for Guidance of Blind People using Integration of GA and A* Techniques

Mohamed¹,

E.²,

F.³

2019

IJCA

View full text Add to dashboard Cite

It is a challenging task for the blind people to perceive indoor environment information and walk independently. Path planning is a crucial requirement to provide constant assistance for blind people to navigate from one location to another. This paper presents a novel system for path planning to assist blind people for walking through the indoor environment and avoiding the obstacles. The algorithm is based on genetic algorithm and A* algorithm to select the shortest path that achieves the lowest computational time. A comparison a mong the GA, A* and the new algorithm shows that is faster and shorter than the previous algorithms.

show abstract

“…Segundo [Eraghi et al 2014] cada célula do mapa de grades tem uma coordenada queé mostrada em (X,Y). Essa coordenadaé utilizada por funções heurísticas que realizam a soma das distâncias ortogonais entre dois pontos, sendo X a posição do nó na coluna e Y a posição do nó na linha.…”

Section: Abordagem E Métodosunclassified

Análise e Comparação dos Algoritmos de Dijkstra e A-Estrela na Descoberta de Caminhos Mínimos em Mapas de Grade

Rios¹,

Neto²,

Netto³

2016

Anais Do I Encontro De Teoria Da Computação (ETC 2016)

View full text Add to dashboard Cite

Este trabalho apresenta uma comparação entre dois algoritmos de descoberta de caminhos mínimos em mapas de grade. O primeiro deles é o Dijkstra, um algoritmo guloso muito conhecido por encontrar o caminho mais curto entre vértices em um dado grafo. O segundo é o A* (A-Estrela), um algoritmo que utiliza heurística para prever seu comportamento, também percorrendo um grafo e encontrando o menor caminho entre vértices. Para cada algoritmo foi adicionada uma condição de parada, demonstrando os respectivos pseudocódigos, analisando a complexidade dos mesmos e apresentando resultados promissores do A-Estrela em comparação ao Dijkstra.

show abstract

Path length comparison in grid maps of planning algorithms: HCTNav, A* and Dijkstra

Cited by 12 publications

References 2 publications

Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

A Novel Path Planning System for Guidance of Blind People using Integration of GA and A* Techniques

Análise e Comparação dos Algoritmos de Dijkstra e A-Estrela na Descoberta de Caminhos Mínimos em Mapas de Grade

Contact Info

Product

Resources

About