A comparative study of implementing Fast Marching Method and A* SEARCH for mobile robot path planning in grid environment: Effect of map resolution

C. H. Chiang, Po Jui Chiang, J.C.-C. Fei, J. Liu
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引用次数: 31

Abstract

Theoretically both of fast marching method (FMM) and A* SEARCH have the same time complexity of O(N log N) , where N is the number of grid points in a map, and guarantee to find an optimal solution if this path exists. This paper examines the effect of alteration of resolution of map on the performance of path planning by A* and FMM on 2D rectangular grid environments. Our observations on the basis of comparative simulations in three test environments at different resolutions are that: A* is more focused and thus faster to generate a polygonal line (continuous but not smooth) path, while FMM generates a better curvature-control, generally smoother and shorter path that is a numerically consistent approximation to the true shortest continuous path as the resolution of map is finer and finer. The difference of path quality for these two methods is more significant as the resolution is finer.
网格环境下移动机器人路径规划快速行军法与A* SEARCH的比较研究:地图分辨率的影响
从理论上讲,快速行军法(FMM)和A* SEARCH都具有相同的时间复杂度O(N log N),其中N为地图中网格点的个数,并且保证在该路径存在的情况下找到最优解。本文研究了在二维矩形网格环境下,地图分辨率的改变对A*和FMM路径规划性能的影响。在三种不同分辨率的测试环境下对比模拟的基础上,我们的观察结果是:A*更集中,从而更快地生成多边形线(连续但不光滑)路径,而FMM生成的曲率控制更好,通常更平滑,更短的路径,随着地图分辨率越来越精细,它是与真正的最短连续路径的数值一致的近似。两种方法的路径质量差异随着分辨率的增大而增大。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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