Generic path planning for real-time applications

Abstract

We present a fast and robust path planning algorithm for generic static terrains with polygonal obstacles. Our algorithm finds shorter, and therefore more intuitive paths than a traditional A* approach with a similar underlying graph. The presented algorithm is derived from A* and is modified to circumvent undecidable situations and unintuitive results. Additionally, we present two post-processing steps to enhance the quality and visual appearance of the resulting paths. The first method minimizes the number of waypoints in a path while the second method takes the slope of the terrain into account in order to generate visually more pleasing paths. We show that our algorithm is fast and, therefore, well suited for realtime applications, such as games or virtual environments.

A collaborative navigation system for autonomous vehicle in flat terrain

“…Generally, if the curvature of the trajectory is smaller, the velocity of the vehicle is higher. Here, we use Bezier function to optimize these broken lines and get the desired trajectory [1]. The optimal criterion is that the curvature k of the trajectory should be limited to the maximum value of …”

“…In the past decades, the autonomous navigation has been the subject of intense research activity, and a great progress has been made. Niederberger presented a fast and robust path planning algorithm derived from A* [1], and AlZeer introduced the extended method for path planning using auxiliary corners [2], but the global information of the obstacle is difficult to be acquired and limit its applicant. Willms presented an efficient grid-based distance-propagating system [3].…”

EKEMAS, an agent-based geo-simulation framework to support continual planning in the real-word

“…However, researchers such as LaMothe [32] warn that "none of the classical approaches (Breadth-First, Bidirectional Breadth-First, Depth-First, Dijkstra's search, and A * searches) are applicable to real-time Pathfinding". Several researchers worked on real-time Pathfinding, especially for real-time applications such as games and virtual environments [42,51]. However, these approaches do not address problems occurring in real environments (i.e.…”

Feature-rich distance-based terrain synthesis

“…Niederberger et al [62] addressed the need with a fast/real-time and robust path planning algorithm for generic static terrains with polygonal obstacles. Similarly, Kallmann [41] developed techniques for efficiently computing collision-free paths in a triangular planar environment.…”