Optimal path planning using spatial neighborhood properties
Date
2007
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Abstract
The path planning problem, in its most well-know form, is the determination of a collisionĀfree path for a mobile agent between source and destination. For practical path planning applications, a path should be as short as possible while maintaining a certain amount of clearance from obstacles. The problem is challenging as very few existing algorithms can fully satisfy both conditions. Very recently, improving path quality has received increased attention from researchers in the areas of GIS and robotics. In the first part of the thesis, we present a novel approach of combining path length with clearance from obstacles to generate an optimal path in just O(nlogn) time. In the second part, we provide a novel algorithm to solve the weighted region problem (wrp), concerned with determining an optimal path in a weighted terrain. Our algorithm is asymptotically faster than other existing approaches to solve the wrp and generates high quality optimal paths. We also provide a full description of the developed software system and extensive experimentation performed on GIS data.
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Bibliography: p. 184-195
Some pages are in colour.
Some pages are in colour.
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Citation
Bhattacharya, P. (2007). Optimal path planning using spatial neighborhood properties (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/1209