COMPUTATIONALLY EFFICIENT PATH PLANNING ALGORITHM FOR AUTONOMOUS VEHICLE
Keywords:Visibility graph, computionally efficient path planning, C-space, graph search algorithm, autonomous vehicle
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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