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

Authors

  • Віталій Геннадійович Михалько National Technical University of Ukraine “Kyiv Polytechnic Institute” Peremohy ave., 37, Kyiv, Ukraine, 03056, Ukraine https://orcid.org/0000-0002-1811-8344
  • Ігор Володимирович Круш National Technical University of Ukraine “Kyiv Polytechnic Institute” Peremohy ave., 37, Kyiv, Ukraine, 03056, Ukraine https://orcid.org/0000-0001-7083-1799

DOI:

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

Keywords:

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

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

Author Biographies

Віталій Геннадійович Михалько, National Technical University of Ukraine “Kyiv Polytechnic Institute” Peremohy ave., 37, Kyiv, Ukraine, 03056

Department of System Design 

Ігор Володимирович Круш, National Technical University of Ukraine “Kyiv Polytechnic Institute” Peremohy ave., 37, Kyiv, Ukraine, 03056

System Design Department

References

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Published

2016-07-30

Issue

Vol. 7 No. 2 (24) (2016)

Section

Technical Sciences

License

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

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