DOI: https://doi.org/10.15587/2313-8416.2016.73625

Effective pathfinding for four-wheeled robot based on combining Theta* and hybrid A* algorithms

Віталій Геннадійович Михалько, Ігор Володимирович Круш

Abstract


Effective pathfinding algorithm based on Theta* and Hybrid A* algorithms was developed for four-wheeled robot. Pseudocode for algorithm was showed and explained. Algorithm and simulator for four-wheeled robot were implemented using Java programming language. Algorithm was tested on U-obstacles, complex maps and for parking problem


Keywords


robotics; four-wheeled robot; artificial intelligence; pathfinding algorithm; Theta*; Hybrid A*

References


Dijkstra, E. W. (1959). A note on two problems in connexion with graphs. Numerische Mathematik, 1 (1), 269–271. doi: 10.1007/bf01386390

Sniedovich, M. (2006). Dijkstra’s algorithm revisited: the dynamic programming connexion. Journal of Control and Cybernetics, 35 (3), 599–620.

Delling, D., Sanders, P., Schultes, D., Wagner, D. (2009). Engineering Route Planning Algorithms. Lecture Notes in Computer Science, 117–139. doi: 10.1007/978-3-642-02094-0_7

Zeng, W., Church, R. L. (2009). Finding shortest paths on real road networks: the case for A*. International Journal of Geographical Information Science, 23 (4), 531–543. doi: 10.1080/13658810801949850

Russell, S, Norvig, P. (2009). Artificial Intelligence: A Modern Approach. 3rd ed. Prentice Hall, 1152.

Theta*: Any-Angle Path Planning for Smoother Trajectories in Continuous Environments. Available at: http://aigamedev.com/open/tutorials/theta-star-any-angle-paths/

LaValle, S. M. Rapidly-exploring random trees: A new tool for path planning. Available at: http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf

Practical Search Techniques in Autonomous Driving. Available at: http://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf

Junior: The Stanford Entry in the Urban Challenge. Available at: http://robots.stanford.edu/papers/junior08.pdf

rcTek – Ackerman Steering Principle. Available at: http://www.rctek.com/technical/handling/ackerman_steering_principle.html

Krause, E. F. (1987). Taxicab Geometry. Dover, 96.

Car simulator and path finding algorithm, source code. Available at: https://github.com/vmykh/car-model


GOST Style Citations


Dijkstra, E. W. A note on two problems in connexion with graphs [Text] / E. W. Dijkstra // Numerische Mathematik. – 1959. – Vol. 1, Issue 1. – P. 269–271. doi: 10.1007/bf01386390 

Sniedovich, M. Dijkstra’s algorithm revisited: the dynamic programming connexion [Text] / M. Sniedovich // Journal of Control and Cybernetics. – 2006. – Vol. 35, Issue 3. – P. 599–620.

Delling, D. Engineering route planning algorithms [Text] / D. Delling, P. Sanders, D. Schultes, D. Wagner // Lecture Notes in Computer Science, 2009. – P. 117–139. doi: 10.1007/978-3-642-02094-0_7 

Zeng, W. Finding shortest paths on real road networks: the case for A* [Text] / W. Zeng, R. L. Church // International Journal of Geographical Information Science. – 2009. – Vol. 23, Issue 4. – P. 531–543. doi: 10.1080/13658810801949850 

Russell, S. Artificial Intelligence: A Modern Approach; 3rd ed. [Text] / S. Russell, P. Norvig. – Prentice Hall, 2009. – 1152 p.

Theta*: Any-Angle Path Planning for Smoother Trajectories in Continuous Environments [Electronic resource]. – Available at: http://aigamedev.com/open/tutorials/theta-star-any-angle-paths/

LaValle, S. M. Rapidly-exploring random trees: A new tool for path planning [Electronic resource] / S. M. LaValle. – Available at: http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf

Practical Search Techniques in Autonomous Driving [Electronic resource]. – Available at: http://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf

Junior: The Stanford Entry in the Urban Challenge [Electronic resource]. – Available at: http://robots.stanford.edu/papers/junior08.pdf

rcTek – Ackerman Steering Principle [Electronic resource]. – Available at: http://www.rctek.com/technical/handling/ackerman_steering_principle.html

Krause, E. F. Taxicab Geometry [Text] / E. F. Krause. – Dover, 1987. – 96 p.

Car simulator and pathfinding algorithm, source code [Electronic resource]. – Available at: https://github.com/vmykh/car-model






Copyright (c) 2016 Віталій Геннадійович Михалько, Ігор Володимирович Круш

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ISSN 2313-8416 (Online), ISSN 2313-6286 (Print)