Waypoint Graph Based Fast Pathfinding in Dynamic Environment
Pathfinding is a fundamental task in many applications including robotics, computer games, and vehicle navigation. Waypoint graph is often used for pathfinding due to its advantage in specifying the space and obstacles in a region. Currently the waypoint graph based pathfinding suffers from large co...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-08-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1155/2015/238727 |
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| Summary: | Pathfinding is a fundamental task in many applications including robotics, computer games, and vehicle navigation. Waypoint graph is often used for pathfinding due to its advantage in specifying the space and obstacles in a region. Currently the waypoint graph based pathfinding suffers from large computation overhead and hence long latency in dynamic environment, where the location of obstacles may change. In this paper, we propose a fast approach for waypoint graph based pathfinding in such scenario. We eliminate unnecessary waypoints and edges to make the graph sparse. And then we design a prediction-based local method to handle the dynamic change in the environment. Extensive simulation has been done and the results show that the proposed approach outperforms existing approaches. |
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| ISSN: | 1550-1477 |