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Computationally efficient path planning algorithm for autonomous vehicle


Debnath, SK and Omar, R and Latip, NBA and Bagchi, S and Sabudin, EN and Mumin, ARO and Soomro, AM and Nafea, M and Muhammad, BB and Naha, RK, Computationally efficient path planning algorithm for autonomous vehicle, Jurnal Teknologi, 83, (1) pp. 133-143. ISSN 0127-9696 (2021) [Refereed Article]

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Copyright 2021 Penerbit UTM Press

DOI: doi:10.11113/jurnalteknologi.v83.14600


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.

Item Details

Item Type:Refereed Article
Keywords:Visibility graph, computionally efficient path planning, C-space, graph search algorithm, autonomous vehicle
Research Division:Information and Computing Sciences
Research Group:Distributed computing and systems software
Research Field:Distributed systems and algorithms
Objective Division:Manufacturing
Objective Group:Machinery and equipment
Objective Field:Autonomous and robotic systems
UTAS Author:Naha, RK (Mr Ranesh Kumar Naha)
ID Code:151731
Year Published:2021
Web of Science® Times Cited:1
Deposited By:Information and Communication Technology
Deposited On:2022-08-04
Last Modified:2022-09-13

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