An Efficient Algorithm for Grid-Based Robotic Path Planning Based on Priority Sorting of Direction Vectors

摘要：

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.

关键词： path planning grid-based map priority sorting time-efficient algorithm

作者: Aolei Yang Qun Niu Wanqing Zhao Kang Li George W.Irwin

作者单位: Intelligent Systems and Control Group School of Electronics, Electrical Engineering and Computer Science Queens University of Belfast, Belfast, BT9 5AH, UK

会议类型: 国际会议

会议名称: International Conference on Life System Modeling and Simulation,and International Conference on Intelligent Computing for Sustainable Energy and Environment(2010生命系统建模与仿真国际会议暨m2010可持续能源与环境智能计算国际会议)

会议地点: 无锡

会议语种:英文

页码: 456-466

在线出版日期: 2010-09-17（万方平台首次上网日期，不代表论文的发表时间）