Effective pathfinding for four-wheeled robot based on combining Theta* and hybrid A* algorithms
DOI:
https://doi.org/10.15587/2313-8416.2016.73625Keywords:
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
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
Downloads
Published
Issue
Section
License
Copyright (c) 2016 Віталій Геннадійович Михалько, Ігор Володимирович Круш
![Creative Commons License](http://i.creativecommons.org/l/by/4.0/88x31.png)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Our journal abides by the Creative Commons CC BY copyright rights and permissions for open access journals.
Authors, who are published in this journal, agree to the following conditions:
1. The authors reserve the right to authorship of the work and pass the first publication right of this work to the journal under the terms of a Creative Commons CC BY, which allows others to freely distribute the published research with the obligatory reference to the authors of the original work and the first publication of the work in this journal.
2. The authors have the right to conclude separate supplement agreements that relate to non-exclusive work distribution in the form in which it has been published by the journal (for example, to upload the work to the online storage of the journal or publish it as part of a monograph), provided that the reference to the first publication of the work in this journal is included.