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

Authors:
Aolei Yang;Qun Niu;Wanqing Zhao;Kang Li;George W. Irwin
Affiliations:
Intelligent Systems and Control Group, School of Electronics, Electrical Engineering and Computer Science, Queen's University of Belfast, Belfast, UK;Intelligent Systems and Control Group, School of Electronics, Electrical Engineering and Computer Science, Queen's University of Belfast, Belfast, UK;Intelligent Systems and Control Group, School of Electronics, Electrical Engineering and Computer Science, Queen's University of Belfast, Belfast, UK;Intelligent Systems and Control Group, School of Electronics, Electrical Engineering and Computer Science, Queen's University of Belfast, Belfast, UK;Intelligent Systems and Control Group, School of Electronics, Electrical Engineering and Computer Science, Queen's University of Belfast, Belfast, UK
Venue:
LSMS/ICSEE'10 Proceedings of the 2010 international conference on Life system modeling and simulation and intelligent computing, and 2010 international conference on Intelligent computing for sustainable energy and environment: Part II
Year:
2010

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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.