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Keywords = bidirectional breadth-first search algorithm

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31 pages, 52074 KB  
Article
FPS: Fast Path Planner Algorithm Based on Sparse Visibility Graph and Bidirectional Breadth-First Search
by Qunzhao Li, Fei Xie, Jing Zhao, Bing Xu, Jiquan Yang, Xixiang Liu and Hongbo Suo
Remote Sens. 2022, 14(15), 3720; https://doi.org/10.3390/rs14153720 - 3 Aug 2022
Cited by 34 | Viewed by 6416
Abstract
The majority of planning algorithms used are based on the occupancy grid maps, but in complicated situations, the occupancy grid maps have a significant search overhead. This paper proposed a path planner based on the visibility graph (v-graph) for the mobile robot that [...] Read more.
The majority of planning algorithms used are based on the occupancy grid maps, but in complicated situations, the occupancy grid maps have a significant search overhead. This paper proposed a path planner based on the visibility graph (v-graph) for the mobile robot that uses sparse methods to speed up and simplify the construction of the v-graph. Firstly, the complementary grid framework is designed to reduce graph updating iteration costs during the data collection process in each data frame. Secondly, a filter approach based on the edge length and the number of vertices of the obstacle contour is proposed to reduce redundant nodes and edges in the v-graph. Thirdly, a bidirectional breadth-first search is combined into the path searching process in the proposed fast path planner algorithm in order to reduce the waste of exploring space. Finally, the simulation results indicate that the proposed sparse v-graph planner can significantly improve the efficiency of building the v-graph and reduce the time of path search. In highly convoluted unknown or partially known environments, our method is 40% faster than the FAR Planner and produces paths 25% shorter than it. Moreover, the physical experiment shows that the proposed path planner is faster than the FAR Planner in both the v-graph update process and laser process. The method proposed in this paper performs faster when seeking paths than the conventional method based on the occupancy grid. Full article
(This article belongs to the Special Issue Advanced Technologies for Position and Navigation under GNSS Signal Challenging or Denied Environments)
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16 pages, 2354 KB  
Article
Research on Automatic Parking System Strategy
by Chuanwei Zhang, Rui Zhou, Lei Lei and Xinyue Yang
World Electr. Veh. J. 2021, 12(4), 200; https://doi.org/10.3390/wevj12040200 - 19 Oct 2021
Cited by 10 | Viewed by 6613
Abstract
The development of the automobile industry and the increase in car ownership has brought great traffic pressures to the city, among which, the difficulty of parking has become a serious problem to the majority of drivers. An automatic parking system can help drivers [...] Read more.
The development of the automobile industry and the increase in car ownership has brought great traffic pressures to the city, among which, the difficulty of parking has become a serious problem to the majority of drivers. An automatic parking system can help drivers to complete parking operation or automatic parking task, and a decision control system is an important part of automatic parking system. In this paper, a strategy for generating the shortest parking path based on a bidirectional breadth-first search algorithm combined with a modified Bellman–Ford algorithm is proposed for automatic parking systems. Experimental results show that this scheme can improve the performance of an automatic parking system, especially in a complex environment. Full article
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