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App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 12

Fast marching tree path planning algorithm with elliptic constraints

Yuan Lei1,2
Jia Xiaolin1,2
Gu Yajun1,2
Xu Zhengyu1,2
1. School of Computer Science & Technology, Southwest University of Science & Technology, Mianyang 621010, China
2. Mobile Internet of Things & Radio Frequency Identification Technology Key Laboratory of Mianyang (MIOT&RFID), Mianyang 621010, China
DOI: 10.19734/j.issn.1001-3695.2024.05.0162

Abstract

To address the issues of excessive inflection points and long planning times in paths generated by the Fast Marching Tree (FMT*) algorithm due to redundant exploration, this paper proposes an Ellipse Constraints FMT* (EC-FMT*) algorithm. The EC-FMT* algorithm first introduces ellipse constraints to limit the exploration range of the algorithm and incorporates a direct connection strategy to minimize unnecessary searches, thereby shortening the path planning time. To tackle the problem of numerous inflection points, the algorithm employs a parent node reselection strategy to refine the path and eliminate unnecessary turns. Simulation experiments show that when the number of sampling points is 1000, 1500, and 2000, respectively, the EC-FMT* algorithm achieves significant reductions in average planning time compared to FMT*, RRT*, and APF-Dynamic FMT*, ranging from 81.9% to 84.72%, 86.15% to 89.78%, and 77.12% to 85.76%. Additionally, the number of inflection points is also reduced. Furthermore, the EC-FMT* algorithm reduces the number of iterations by 84.72% to 87.03% compared to FMT* and by 80.89% to 85.55% compared to APF-Dynamic FMT*. These results demonstrate that the EC-FMT* algorithm effectively mitigates redundant exploration, shortens path planning time, and enhances path quality.

Foundation Support

国家自然科学基金面上项目(61471306)
四川省自然科学基金面上项目(2022NSFSC0548)
绵阳市移动物联射频识别技术重点实验室专项(MYZD23032302)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.05.0162
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 12

Publish History

[2024-09-11] Accepted Paper

Cite This Article

袁雷, 贾小林, 顾娅军, 等. 融合椭圆约束的快速行进树路径规划算法 [J]. 计算机应用研究, 2024, 41 (12). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.05.0162. (Yuan Lei, Jia Xiaolin, Gu Yajun, et al. Fast marching tree path planning algorithm with elliptic constraints [J]. Application Research of Computers, 2024, 41 (12). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.05.0162. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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