Use this URL to cite or link to this record in EThOS:
Title: A novel online any-angle path planning algorithm
Author: Oprea, Paul
ISNI:       0000 0004 7659 4458
Awarding Body: University of Kent
Current Institution: University of Kent
Date of Award: 2017
Availability of Full Text:
Access from EThOS:
Access from Institution:
Any-angle path planning algorithms are a popular topic of research in the fields of robotics and video games with a key focus in finding true shortest paths. Most online grid-constrained path-planning algorithms find sub- optimal solutions that present as unrealistic paths, a shortcoming which the any-angle class of algorithms attempt to address. While they do pro- vide improvements in finding shorter paths, it generally comes in the form of a trade-off, by sacrificing runtime performance. The lack of a robust solution, that does not compromise on any of the desirable properties - online, reduced search-space, low runtime, short paths - of an any-angle path-planning algorithm, is a prime motivator for the current research. A novel any-angle algorithm for 2-dimensional uniform-cost octile grids is introduced that operates purely online and reduces the search-space and runtime without sacrificing path-length. The methodology presents an atypical any-angle path-planning algorithm which employs a best first- search that races individual paths towards a target with a free-space as- sumption. The paths exhibit bug-like properties in that they either move towards a target or wall-follow, but are allowed to terminate early. Wall- following determines points on the boundary that are candidate heading changes in the path. At each step, the path is analysed and pruned in or- der to maintain its tautness at all times. Together with a purely heuristic cost based on the assumption of free-space between heading changes, the algorithm drives the search towards expanding the most promising path first. Once a path has reached the goal, it checks the free-space assump- tion between its heading changes and updates its cost accordingly. The shortest-path is determined when the cost estimate of any remaining paths is longer than the solution path. The proposed algorithm is shown experimentally to be competitive on a number of performance metrics with state-of-the-art any-angle algorithms. It also presents desirable properties that allow it to have a reduced search- space and make it suitable for providing multiple solutions.
Supervisor: Sirlantzis, Konstantinos Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: TA Engineering (General). Civil engineering (General)