DVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment
Autor: | Flavio Tonidandel, Leonardo da Silva Costa |
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Rok vydání: | 2021 |
Předmět: |
Obstacle avoidance algorithm
0209 industrial biotechnology Computer science Mechanical Engineering Visibility graph Dimension (graph theory) Work (physics) A* search algorithm 02 engineering and technology Industrial and Manufacturing Engineering law.invention 020901 industrial engineering & automation Path length Artificial Intelligence Control and Systems Engineering law Path (graph theory) Motion planning Electrical and Electronic Engineering Algorithm Software |
Zdroj: | Journal of Intelligent & Robotic Systems. 101 |
ISSN: | 1573-0409 0921-0296 |
DOI: | 10.1007/s10846-021-01326-0 |
Popis: | This work provides a deeper comparison between two path planning algorithms, the Dynamic Visibility Graph A Star (DVG+A*) and Rapidly–exploring Random Trees (RRT), when applied in a high dimension and dynamic environment, which is the RoboCup Small Size League. The algorithms were compared under two different perspectives. In the first analysis, the algorithms were evaluated according to its computational time, path length and path safety in a static environment. Afterwards, they were evaluated regarding the accumulated computational time, number of recalculated paths, total navigation time and number of collisions in a dynamic environment. The static environment results have shown that the DVG+A* has a better overall performance than RRT, except for the path safety, however, some ideas on how to improve this were discussed. In the dynamic environment the algorithms performed similarly and with a high number of collisions during the experiments. Thus, showing the importance of using an obstacle avoidance algorithm combined with the path planner. In conclusion, the results obtained showed that both algorithms aren’t suitable for highly dynamic and cluttered environments, however, due how sparse the obstacles are in the SSL, they can still be used with some care. Regarding static environments, the DVG+A* has shown the best results. |
Databáze: | OpenAIRE |
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