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Computationally efficient path planning algorithm for autonomous vehicle
journal contribution
posted on 2023-05-21, 10:39 authored by Debnath, SK, Omar, R, Latip, NBA, Bagchi, S, Sabudin, EN, Mumin, ARO, Soomro, AM, Nafea, M, Muhammad, BB, Ranesh Kumar NahaThis 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.
History
Publication title
Jurnal TeknologiVolume
83Pagination
133-143ISSN
0127-9696Department/School
School of Information and Communication TechnologyPublisher
Penerbit Universiti Teknologi MalaysiaPlace of publication
MalaysiaRights statement
Copyright 2021 Penerbit UTM PressRepository Status
- Restricted