COMPUTATIONALLY EFFICIENT PATH PLANNING ALGORITHM FOR AUTONOMOUS VEHICLE

Authors

  • Sanjoy Kumar Debnath https://orcid.org/0000-0002-5019-3897
  • Rosli Omar Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Nor Badariyah Abdul Latip Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Susama Bagchi Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Elia Nadira Sabudin Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Abdul Rashid Omar Mumin Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Abdul Majid Soomro Faculty of Computer Science and Information Technology, Universiti Tun Hussein Onn Malaysia, 86400, Johor, Malaysia
  • Marwan Nafea Department of Electrical and Electronic Engineering, University of Nottingham Malaysia, Semenyih, Selangor, Malaysia
  • Bashir Bala Muhammad Faculty of Air Engineering, Air Force Institute of Technology, Kaduna Nigeria
  • Ranesh Kumar Naha Discipline of ICT, University of Tasmania, Hobart, TAS7005 Australia

DOI:

https://doi.org/10.11113/jurnalteknologi.v83.14600

Keywords:

Visibility graph, computionally efficient path planning, C-space, graph search algorithm, autonomous vehicle

Abstract

This paper analyses an experimental path planning performance between the Iterative Equilateral Space Oriented Visibility Graph (IESOVG) and conventional Visibility Graph (VG) algorithms in terms of computation time and path length for an autonomous vehicle. IESOVG is a path planning algorithm that was proposed to overcome the limitations of VG which is slow in obstacle-rich environment. The performance assessment was done in several identical scenarios through simulation. The results showed that the proposed IESOVG algorithm was much faster in comparison to VG. In terms of path length, IESOVG was found to have almost similar performance with VG.  It was also found that IESOVG was complete as it could find a collision-free path in all scenarios.

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Published

2020-12-09

Issue

Section

Science and Engineering