An efficient algorithm for grid-based robotic path planning based on priority sorting of direction vectors

Yang, Aolei, Niu, Qun, Zhao, Wanqing ORCID: https://orcid.org/0000-0001-6160-9547, Li, Kang and Irwin, George W. 2010. An efficient algorithm for grid-based robotic path planning based on priority sorting of direction vectors. Lecture Notes in Computer Science 6329 , pp. 456-466. 10.1007/978-3-642-15597-0_50

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Abstract

This paper presents an efficient grid-based robotic path planning algorithm. This method is motivated by the engineering requirement in practical embedded systems where the hardware resource is always limited. The main target of this algorithm is to reduce the searching time and to achieve the minimum number of movements. In order to assess the performance, the classical A* algorithm is also developed as a reference point to verify the effectiveness and determine the performance of the proposed algorithm. The comparison results confirm that the proposed approach considerably shortens the searching time by nearly half and produces smoother paths with less jagged segments than A* algorithm.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Uncontrolled Keywords:	path planning; grid-based map; priority sorting; time-efficient algorithm
Additional Information:	Life System Modeling and Intelligent Computing: International Conference on Life System Modeling and Simulation, LSMS 2010, and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2010, Wuxi, China, September 17-20, 2010, Proceedings, Part II
Publisher:	Springer
ISSN:	0302-9743
Last Modified:	27 Oct 2022 09:10
URI:	https://orca.cardiff.ac.uk/id/eprint/64611

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