Global Path Planning in Grid-Based Environments Using Novel Metaheuristic Algorithm

Panov, Stojanche and Koceska, Natasa (2014) Global Path Planning in Grid-Based Environments Using Novel Metaheuristic Algorithm. ICT Innovations 2013, 231. pp. 121-130. ISSN 2194-5357

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Official URL: http://link.springer.com/chapter/10.1007/978-3-319...

Abstract

The global path planning problem is very challenging NP-complete problem in the domain of robotics. Many metaheuristic approaches have been developed up to date, to provide an optimal solution to this problem. In this work we present a novel Quad-Harmony Search (QHS) algorithm based on Quad-tree free space decomposition methodology and Harmony Search optimization. The developed algorithm has been evaluated on various grid based environments with different percentage of obstacle coverage. The results have demonstrated that it is superior in terms of time and optimality of the solution compared to other known metaheuristic algorithms.

Item Type: Article
Uncontrolled Keywords: Artificial Intelligence; Free Space Decomposition; Global Path- Planning; Heuristic Algorithm; Robotics
Subjects: Natural sciences > Computer and information sciences
Divisions: Faculty of Computer Science
Depositing User: Natasa Koceska
Date Deposited: 03 Feb 2014 10:20
Last Modified: 03 Feb 2014 10:20
URI: http://eprints.ugd.edu.mk/id/eprint/8665

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