Real Time Evaluation of Grid Based Path Planning Algorithms: A comparative study

Saranya, C.; Rao, K. Koteswara; Unnikrishnan, Manju; Brinda, V.; Lalithambika, V.R.; Dhekane, M.V.

doi:10.3182/20140313-3-in-3024.00050

Cited by 7 publications

(2 citation statements)

References 5 publications

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“…The Grid-Based Approaches [25] like A* and D*, the Artificial Potential Field Method (APF) [26], the Dynamic-Window Approach (DWA) [27] , Sampling-Based Planning (SBP) [28], Reinforcement Learning (RL) [29], intelligent algorithms [30][31][32], and other methods based on various concepts and map descriptions were some of the artificial intelligence techniques that researchers looked into to address the issues of path planning.…”

Section: Robots Routing and Path Planning Literature Reviewmentioning

confidence: 99%

Collision Avoidance and Routing based on Location Access (CARLA) of mobile robots

El-sayyad,

Saleh,

Ali

et al. 2023

Preprint

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In this paper, a novel robotic system methodology known as Collision Avoidance and Routing based on Location Access (CARLA) is proposed. It is intended for use in environments like hospitals or crisis situations where quick action and the preservation of human life are crucial, and when the primary actuator is to protect the lives of healthcare workers and to prevent the high potential for viral transmission among patients, such as in COVID-19 isolation hospitals. Our framework is primarily concerned with accuracy and quick responses. E.g. delivering tools or items in a specific district while avoiding collisions with other robots or any surrounding obstacles. The suggested CARLA can also be used for a variety of related applications, including those found in factories, warehouses, and any other situation where mobile robots must be chosen and routed using a distant centralized control. The Robot Knowledge Module (RKM), Robot Selection Module (RSM), and Route Reservation Module (RRM) are the three core modules that make up the proposed framework, which will be explained in detail throughout the paper. In comparison to conventional techniques used in similar situations, the simulation results using the suggested framework demonstrate the flexible and effective mobility of the robots in terms of the robots' path computation time and the request's success rate without collision.

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Section: Robots Routing and Path Planning Literature Reviewmentioning

confidence: 99%

Collision Avoidance and Routing based on Location Access (CARLA) of mobile robots

El-sayyad,

Saleh,

Ali

et al. 2023

Preprint

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show abstract

“…The A* algorithm uses a rasterized map for map representation, resulting in poor path smoothness and excessive orthogonal rotation, and the efficiency of the algorithm decreases as the map scale expands [28]. However, the classical method has the advantage that the route can be easily found if sufficient information is provided [30]. It is also suitable when applied to the shortest path problem based on information about obstacles in a static environment [28].…”

Section: B Ship's Passage Planingmentioning

confidence: 99%

Generation of Ship’s Passage Plan Using Data-Driven Shortest Path Algorithms

et al. 2022

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In this study, an approach for generating the shortest-distance passage plan for a ship is proposed considering the navigable area obtained based on automatic identification system data. The navigable area is designated based on the information from the electronic navigational chart and by considering the ship traffic density using Jenks natural breaks classification. The shortest-path algorithms used in our experiment are the Dijkstra, A*, and improved A*. Then, the Douglas-Peucker algorithm is applied to generate an optimal result by supplementing the passage plan generated by the best-performing shortest-path algorithm. The experiment was divided into two cases depending on whether or not the passage plan covered the target area of this study, namely, the vessel traffic service system control area of Busan Port between Busan New Port and Ulsan Port. The improved A* performed better than Dijkstra and A* in these two cases. Subsequently, the distance of the final passage plan was 98.649 km in the case of passing through the control area and 105.365 km in the case of bypassing, which were less than the distances in the passage plan of the actual ship by approximately 13.18% and 7.27%, respectively. The experimental results of the proposed approach show the possibility of automatically establishing the shortest-distance passage plan for a ship considering the navigable area. In addition, this study suggests an effective approach for coastal navigation, which is more complex than ocean navigation. Further, this study can serve as a basis for generating passage plans for maritime autonomous surface ships.

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A Comprehensive Survey and Analysis on Path Planning Algorithms and Heuristic Functions

Yan

Chen

Zhu

et al. 2020

Advances in Intelligent Systems and Computing

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Real Time Evaluation of Grid Based Path Planning Algorithms: A comparative study

Cited by 7 publications

References 5 publications

Collision Avoidance and Routing based on Location Access (CARLA) of mobile robots

Collision Avoidance and Routing based on Location Access (CARLA) of mobile robots

Generation of Ship’s Passage Plan Using Data-Driven Shortest Path Algorithms

A Comprehensive Survey and Analysis on Path Planning Algorithms and Heuristic Functions

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