DVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment

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dc.contributor.authorDA SILVA, COSTA, L.
dc.contributor.authorFlavio Tonidandel
dc.contributor.authorOrcidhttps://orcid.org/0000-0003-0345-668X
dc.date.accessioned2022-01-12T21:54:08Z
dc.date.available2022-01-12T21:54:08Z
dc.date.issued2021
dc.description.abstract© 2021, The Author(s), under exclusive licence to Springer Nature B.V. part of Springer Nature.This work provides a deeper comparison between two path planning algorithms, the Dynamic Visibility Graph A Star (DVG+A*) and Rapidly–exploring Random Trees (RRT), when applied in a high dimension and dynamic environment, which is the RoboCup Small Size League. The algorithms were compared under two different perspectives. In the first analysis, the algorithms were evaluated according to its computational time, path length and path safety in a static environment. Afterwards, they were evaluated regarding the accumulated computational time, number of recalculated paths, total navigation time and number of collisions in a dynamic environment. The static environment results have shown that the DVG+A* has a better overall performance than RRT, except for the path safety, however, some ideas on how to improve this were discussed. In the dynamic environment the algorithms performed similarly and with a high number of collisions during the experiments. Thus, showing the importance of using an obstacle avoidance algorithm combined with the path planner. In conclusion, the results obtained showed that both algorithms aren’t suitable for highly dynamic and cluttered environments, however, due how sparse the obstacles are in the SSL, they can still be used with some care. Regarding static environments, the DVG+A* has shown the best results.
dc.description.issuenumber3
dc.description.volume101
dc.identifier.citationDA SILVA, COSTA, L.; TONIDANDEL. DVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment. Journal of Intelligent and Robotic Systems: Theory and Applications, v. 101, n. 3, p. 2021.
dc.identifier.doi10.1007/s10846-021-01326-0
dc.identifier.issn1573-0409
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3583
dc.relation.ispartofJournal of Intelligent and Robotic Systems: Theory and Applications
dc.rightsAcesso Restrito
dc.subject.otherlanguageA star
dc.subject.otherlanguageDynamic visibility graph
dc.subject.otherlanguagePath planning
dc.subject.otherlanguageRapidly-exploring random trees
dc.subject.otherlanguageRoboCup small-size league
dc.titleDVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment
dc.typeArtigo
fei.scopus.citations7
fei.scopus.eid2-s2.0-85102033081
fei.scopus.subjectCluttered environments
fei.scopus.subjectComputational time
fei.scopus.subjectDynamic environments
fei.scopus.subjectDynamic visibility graphs
fei.scopus.subjectHigh dimensions
fei.scopus.subjectObstacle avoidance algorithms
fei.scopus.subjectRoboCup Small Size League
fei.scopus.subjectStatic environment
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85102033081&origin=inward
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