This paper addresses the problem of optimizing the navigation of an intelligent mobile in a real world enviroanment described by a map The map is composed of features representing natural landmarks in the environment. The vehicle is equipped with a sensor which allows it to obtain range and bearing measurements from observed landmarks durinq the execution. These measurements are correlated with...

The paper describes an application of the A* algorithm for flight path planning for airplanes with defined motion dynamics operating in a continuous three-dimensional space constrained by existing physical obstacles. The presented A* algorithm modification provides significant acceleration (reduction of the state space) of the path planning process. The described algorithm is able to find a pat...

In games entities move around and must find their routes to various locations. These routes must be collision free, natural, and computed very fast. This is a major challenge and many games solve this by using precomputed waypoints, scripting, or simple but fast methods based on grid search or potential fields. Also very often they cheat or accept the fact that characters walk through objects. ...

We propose the use of quasi-random sampling techniques for path planning in high-dimensional conng-uration spaces. Following similar trends from related numerical computation elds, we show several advantages ooered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two quasi-random variants of PRM-based plan...

Grids with blocked and unblocked cells are often used to represent terrain in computer games and robotics. However, paths formed by grid edges can be sub-optimal and unrealistic looking, since the possible headings are artificially constrained. We present Theta*, a variant of A*, that propagates information along grid edges without constraining the paths to grid edges. Theta* is simple, fast an...

In robotics and video games, one often discretizes continuous terrain into a grid with blocked and unblocked grid cells and then uses path-planning algorithms to find a shortest path on the resulting grid graph. This path, however, is typically not a shortest path in the continuous terrain. In this overview article, we discuss a path-planning methodology for quickly finding paths in continuous ...

Even after lots of effort made by today game companies, recent state of the art real-time strategy (RTS) games (e.g. Age of Empires, Warcraft III) lack an efficient robust path planner for mass multi-agent path planning. The main reason for this failure is that current methods do not try to solve the whole path planning problem as one task. One recent work that addresses this issue is Cooperati...

Path planning is a necessary component of any autonomous vehicle. The task is one of nding a course that takes the vehicle from its current location to a destination avoiding obstacles that might damage or divert the vehicle. There are many forms of path planning algorithms such as those that pregenerate a path versus those that perform reactive run-time planning. This paper presents a two-dime...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

The 5-axis Coordinate Measuring Machine (CMM) is widely used for quality data collection of the machining parts, such as cylinder blocks and heads engines. High efficient inspection path planning multiple feature groups from different stations one key tasks CMM application. In engineering practice, diverse accounts large labor cost process development cycle. To improve efficiency generation com...