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A Novel Online Any-Angle Path Planning Algorithm

Oprea, Paul (2017) A Novel Online Any-Angle Path Planning Algorithm. Doctor of Philosophy (PhD) thesis, University of Kent,. (KAR id:71757)

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Abstract

Any-angle path planning algorithms are a popular topic of research in the

paths. Most online grid-constrained path-planning algorithms find sub-

the any-angle class of algorithms attempt to address. While they do pro-

of a trade-off, by sacrificing runtime performance. The lack of a robust

online, reduced search-space, low runtime, short paths - of an any-angle

A novel any-angle algorithm for 2-dimensional uniform-cost octile grids

and runtime without sacrificing path-length. The methodology presents

search that races individual paths towards a target with a free-space as-

towards a target or wall-follow, but are allowed to terminate early. Wall-

changes in the path. At each step, the path is analysed and pruned in or-

cost based on the assumption of free-space between heading changes, the

first. Once a path has reached the goal, it checks the free-space assump-

shortest-path is determined when the cost estimate of any remaining paths

The proposed algorithm is shown experimentally to be competitive on a

It also presents desirable properties that allow it to have a reduced search-

space and make it suitable for providing multiple solutions.

Item Type: Thesis (Doctor of Philosophy (PhD))
Thesis advisor: Sirlantzis, Konstantinos
Uncontrolled keywords: Any-angle path planning
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
SWORD Depositor: System Moodle
Depositing User: System Moodle
Date Deposited: 21 Jan 2019 17:10 UTC
Last Modified: 16 Feb 2021 14:01 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/71757 (The current URI for this page, for reference purposes)
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