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Improved Path Planning with Memory Efficient A* Algorithm and Optimization of Narrow Passages

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Hybrid Intelligent Systems (HIS 2020)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1375))

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Abstract

Path planning is an important type of problem that occurs in various transportation related areas and has led to a several algorithms to solve it. In the current paper, we present a fast solution for path planning by optimizing the A* algorithm in grid-based maps with obstacles arranged to create rooms or as walls. We also optimize the behavior in narrow passages. Besides A* we use the Memory Efficient A* algorithm (MEA*) and improve it by changing the driving and searching behavior in narrow passages to find a faster way to the target location. The four considered variants of algorithms (original A* and MEA* algorithms and both with detection and special handling in narrow passages) are evaluated in computational experiments based on the number of steps (distance) required to reach the goal. These comparisons were performed on different types and sizes of maps.

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Authors and Affiliations

  1. Institute of Information Systems, University of Applied Sciences and Arts Northwestern Switzerland, Olten/Basel, Switzerland

    Lukas Weber, Rolf Dornberger & Thomas Hanne

Authors
  1. Lukas Weber
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  2. Rolf Dornberger
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  3. Thomas Hanne
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Corresponding author

Correspondence to Thomas Hanne .

Editor information

Editors and Affiliations

  1. Scientific Network for Innovation and Research Excellence, Machine Intelligence Research Labs (MIR Labs), Auburn, WA, USA

    Ajith Abraham

  2. Institute for Information Systems, University of Applied Sciences and Arts Northwestern Switzerland, Olten, Solothurn, Switzerland

    Thomas Hanne

  3. Division of Graduate Studies, Tijuana Institute of Technology, Tijuana, Mexico

    Oscar Castillo

  4. Scientific Network for Innovation and Research Excellence, Machine Intelligence Research Labs (MIR Labs), Auburn, AL, USA

    Niketa Gandhi

  5. Universidade Federal da Bahia, Salvador, Bahia, Brazil

    Tatiane Nogueira Rios

  6. Computer Science and Information Engineering, National University of Kaohsiung, Kaohsiung, Taiwan

    Tzung-Pei Hong

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Weber, L., Dornberger, R., Hanne, T. (2021). Improved Path Planning with Memory Efficient A* Algorithm and Optimization of Narrow Passages. In: Abraham, A., Hanne, T., Castillo, O., Gandhi, N., Nogueira Rios, T., Hong, TP. (eds) Hybrid Intelligent Systems. HIS 2020. Advances in Intelligent Systems and Computing, vol 1375. Springer, Cham. https://doi.org/10.1007/978-3-030-73050-5_8

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