Explanation and Speedup Comparison of Advanced Path-planning Algorithms Presented on Two-dimensional Grid

Simple item page
dc.contributor.authorSoustek, Petr
dc.contributor.authorMatousek, Radomil
dc.contributor.authorDvorak, Jiri
dc.contributor.authorManakova, Lenka
dc.coverage.issue2cs
dc.coverage.volume28cs
dc.date.accessioned2023-01-13T06:21:06Z
dc.date.available2023-01-13T06:21:06Z
dc.date.issued2022-12-20cs
dc.description.abstractPath planning or network route planning problems are an important issue in AI, robotics, or computer games. Appropriate implementation and knowledge of advanced and classical path-planning algorithms can be important for both autonomous navigation systems and computer games. In this paper, we compare advanced path planning algorithms implemented on a two-dimensional grid. Advanced path planning algorithms, including pseudocode, are introduced. The experiments were performed in the Python environment, thus with a significant performance margin over C++ or Rust implementations. The main focus is on the speedup of the algorithms compared to a baseline method, which was chosen to be the well-known Dijkstra's algorithm. All experiments correspond to trajectories on a two-dimensional grid, with variously defined constraints. The motion from each node corresponds to a Moore neighborhood, i.e., it is possible in eight directions. In this paper, three well-known path planning algorithms are described and compared: the Dijkstra, A* and A* /w Bounding Box. And two advanced methods are included, namely Jump Point Search (JPS), incorporated with the Bounding Box variant (JPS+BB), and Simple Subgoal (SS). These advanced methods clearly show their advantage in the context of the speed up of solution time.en
dc.formattextcs
dc.format.extent97-107cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationMendel. 2022 vol. 28, č. 2, s. 97-107. ISSN 1803-3814cs
dc.identifier.doi10.13164/mendel.2022.2.097en
dc.identifier.issn2571-3701
dc.identifier.issn1803-3820
dc.identifier.urihttp://hdl.handle.net/11012/208742
dc.language.isoencs
dc.publisherInstitute of Automation and Computer Science, Brno University of Technologycs
dc.relation.ispartofMendelcs
dc.relation.urihttps://mendel-journal.org/index.php/mendel/article/view/209cs
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International licenseen
dc.rights.accessopenAccessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0en
dc.subjectPath planningen
dc.subjectRoute planningen
dc.subjectJPS algorithmen
dc.subjectSubgoal algorithmen
dc.subjectA* algorithmen
dc.subjectDijkstra's algorithmen
dc.titleExplanation and Speedup Comparison of Advanced Path-planning Algorithms Presented on Two-dimensional Griden
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.facultyFakulta strojního inženýrstvícs
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
209-Article Text-519-2-10-20230104.pdf
Size:
2.82 MB
Format:
Adobe Portable Document Format
Description:
Download
Collections
Vol. 28, No. 2