Path-Planning Dynamic 3D Space Using Modified A Algorithm

Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms such as the A*, D*, APF algorithms and more have scored great deal of efficiency along the way of path planning and navigating though some like...

Full description

Saved in:
Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 928; no. 3; pp. 32016 - 32028
Main Authors Hussein Qahtan, Al Gburi, Ali Emad, AL-Baiati
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.11.2020
Subjects
Algorithms
Barriers
Dynamic environment
Obstacle avoidance
Path planning
Sphere space
Online AccessGet full text

Cover

Abstract Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms such as the A*, D*, APF algorithms and more have scored great deal of efficiency along the way of path planning and navigating though some like the A* and D* lacks the ability to adopt the three-dimensional environments, since they have been intended to be light and fast in execution. This paper shows a modified version of the A* algorithm that works on 3D sphere space in both simple and cluttered environments. Giving ability to the algorithm to operate with float values and navigate around sphere obstacles safely, which is a closer scenario to the real world environments. The modified algorithm has the ability to avoid dynamic as well as static obstacles, generating semi-smooth and completely safe path from start point to the goal.
AbstractList Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms such as the A*, D*, APF algorithms and more have scored great deal of efficiency along the way of path planning and navigating though some like the A* and D* lacks the ability to adopt the three-dimensional environments, since they have been intended to be light and fast in execution. This paper shows a modified version of the A* algorithm that works on 3D sphere space in both simple and cluttered environments. Giving ability to the algorithm to operate with float values and navigate around sphere obstacles safely, which is a closer scenario to the real world environments. The modified algorithm has the ability to avoid dynamic as well as static obstacles, generating semi-smooth and completely safe path from start point to the goal.
Abstract Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms such as the A*, D*, APF algorithms and more have scored great deal of efficiency along the way of path planning and navigating though some like the A* and D* lacks the ability to adopt the three-dimensional environments, since they have been intended to be light and fast in execution. This paper shows a modified version of the A* algorithm that works on 3D sphere space in both simple and cluttered environments. Giving ability to the algorithm to operate with float values and navigate around sphere obstacles safely, which is a closer scenario to the real world environments. The modified algorithm has the ability to avoid dynamic as well as static obstacles, generating semi-smooth and completely safe path from start point to the goal.
Author Ali Emad, AL-Baiati
Hussein Qahtan, Al Gburi
Author_xml – sequence: 1
  givenname: Al Gburi
  surname: Hussein Qahtan
  fullname: Hussein Qahtan, Al Gburi
  email: Hussein.kahtan@gmail.com
  organization: Iraq - Baghdad Ministry of Education
– sequence: 2
  givenname: AL-Baiati
  surname: Ali Emad
  fullname: Ali Emad, AL-Baiati
  email: albaiaty2007@gmail.com
  organization: Iraq - Baghdad University of Technology Department of Computer Engineering
BookMark eNqFkEtrwkAQx5diodb2K5RAL72k2Ueyj6OofYBSwQq9Les-dEV300QPfvsmpFgKhZ5mmPnNf-B3DXohBgvAHYKPCHKeIVawlAvxkQnMM5JBgiGiF6B_XvTOPUdX4LqutxBSluewD8RcHTbpfKdC8GGdjE9B7b1OyDhZlErbZFm341k03nlrkmEy3K1j5Q-b_Q24dGpX29vvOgDLp8n76CWdvj2_jobTVBOMaZoLZAtDGbFca6ewwEoThLVpZm6Vr5xxVjiliMFUQyOcU4QRbATFFKmCkQG473LLKn4ebX2Q23isQvNS4oJixnnzpqFoR-kq1nVlnSwrv1fVSSIoW02yNSBbG7LRJInsNDWHD92hj-VP8mwx-YXJ0rgGxX-g_-R_Ad3yd5Y
CitedBy_id crossref_primary_10_1088_1742_6596_1973_1_012002
crossref_primary_10_7746_jkros_2023_18_3_337
crossref_primary_10_1088_1742_6596_1983_1_012034
Cites_doi 10.1016/j.proeng.2014.12.098
10.1155/2016/7426913
ContentType Journal Article
Copyright Published under licence by IOP Publishing Ltd
2020. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
Copyright_xml – notice: Published under licence by IOP Publishing Ltd
– notice: 2020. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
DBID O3W
TSCCA
AAYXX
CITATION
8FE
8FG
ABJCF
ABUWG
AFKRA
AZQEC
BENPR
BGLVJ
CCPQU
D1I
DWQXO
HCIFZ
KB.
L6V
M7S
PDBOC
PIMPY
PQEST
PQQKQ
PQUKI
PRINS
PTHSS
DOI 10.1088/1757-899X/928/3/032016
DatabaseName IOP Publishing
IOPscience (Open Access)
CrossRef
ProQuest SciTech Collection
ProQuest Technology Collection
Materials Science & Engineering Collection
ProQuest Central (Alumni)
ProQuest Central
ProQuest Central Essentials
ProQuest Central
Technology Collection
ProQuest One Community College
ProQuest Materials Science Collection
ProQuest Central Korea
SciTech Premium Collection
Materials Science Database
ProQuest Engineering Collection
Engineering Database
Materials Science Collection
Publicly Available Content Database
ProQuest One Academic Eastern Edition (DO NOT USE)
ProQuest One Academic
ProQuest One Academic UKI Edition
ProQuest Central China
Engineering Collection
DatabaseTitle CrossRef
Publicly Available Content Database
ProQuest Materials Science Collection
Engineering Database
Technology Collection
ProQuest Central Essentials
ProQuest One Academic Eastern Edition
Materials Science Collection
ProQuest Central (Alumni Edition)
SciTech Premium Collection
ProQuest One Community College
ProQuest Technology Collection
ProQuest SciTech Collection
ProQuest Central China
ProQuest Central
ProQuest Engineering Collection
ProQuest One Academic UKI Edition
ProQuest Central Korea
Materials Science & Engineering Collection
Materials Science Database
ProQuest One Academic
Engineering Collection
DatabaseTitleList Publicly Available Content Database
CrossRef
Database_xml – sequence: 1
  dbid: O3W
  name: IOP Publishing
  url: http://iopscience.iop.org/
  sourceTypes:
    Enrichment Source
    Publisher
– sequence: 2
  dbid: 8FG
  name: ProQuest Technology Collection
  url: https://search.proquest.com/technologycollection1
  sourceTypes: Aggregation Database
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
DocumentTitleAlternate Path-Planning Dynamic 3D Space Using Modified A Algorithm
EISSN 1757-899X
ExternalDocumentID 10_1088_1757_899X_928_3_032016
MSE_928_3_032016
GroupedDBID 1JI
5B3
5PX
5VS
AAJIO
AAJKP
ABHWH
ABJCF
ACAFW
ACGFO
ACHIP
ACIPV
AEFHF
AEJGL
AFKRA
AFYNE
AHSEE
AIYBF
AKPSB
ALMA_UNASSIGNED_HOLDINGS
ASPBG
ATQHT
AVWKF
AZFZN
BENPR
BGLVJ
CCPQU
CEBXE
CJUJL
CRLBU
EBS
EDWGO
EQZZN
GROUPED_DOAJ
GX1
HCIFZ
HH5
IJHAN
IOP
IZVLO
KB.
KNG
KQ8
M7S
N5L
O3W
OK1
P2P
PDBOC
PIMPY
PJBAE
PTHSS
RIN
RNS
SY9
T37
TR2
TSCCA
W28
AAYXX
CITATION
8FE
8FG
ABUWG
AZQEC
D1I
DWQXO
L6V
PQEST
PQQKQ
PQUKI
PRINS
ID FETCH-LOGICAL-c3226-491e5d673e8ccfa292ac312cdd67fb4bfdfe9faa3d26c0d9ffa3732d96261a573
IEDL.DBID BENPR
ISSN 1757-8981
IngestDate Thu Oct 10 15:54:48 EDT 2024
Fri Aug 23 01:52:17 EDT 2024
Wed Aug 21 03:38:29 EDT 2024
Thu Jan 07 14:56:16 EST 2021
IsDoiOpenAccess true
IsOpenAccess true
IsPeerReviewed true
IsScholarly true
Issue 3
Language English
License Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c3226-491e5d673e8ccfa292ac312cdd67fb4bfdfe9faa3d26c0d9ffa3732d96261a573
OpenAccessLink https://www.proquest.com/docview/2562788226?pq-origsite=%requestingapplication%
PQID 2562788226
PQPubID 4998670
PageCount 13
ParticipantIDs iop_journals_10_1088_1757_899X_928_3_032016
proquest_journals_2562788226
crossref_primary_10_1088_1757_899X_928_3_032016
PublicationCentury 2000
PublicationDate 20201101
PublicationDateYYYYMMDD 2020-11-01
PublicationDate_xml – month: 11
  year: 2020
  text: 20201101
  day: 01
PublicationDecade 2020
PublicationPlace Bristol
PublicationPlace_xml – name: Bristol
PublicationTitle IOP conference series. Materials Science and Engineering
PublicationTitleAlternate IOP Conf. Ser.: Mater. Sci. Eng
PublicationYear 2020
Publisher IOP Publishing
Publisher_xml – name: IOP Publishing
References Yang (MSE_928_3_032016bib4) 2015; 6
Ducho (MSE_928_3_032016bib6) 2014
Yang (MSE_928_3_032016bib7) 2016
Abu-Bakar (MSE_928_3_032016bib11) 2010
Masudur Rahman Al-Arif (MSE_928_3_032016bib12) 2012; 39
van den Berg (MSE_928_3_032016bib10) 2007
Bell (MSE_928_3_032016bib1) 2010
Choset (MSE_928_3_032016bib3) 2005
Opoku (MSE_928_3_032016bib5) 2013; 67
Latombe (MSE_928_3_032016bib8) 1991
Yang (MSE_928_3_032016bib9) 2016
Schouwenaars (MSE_928_3_032016bib2) 2006
References_xml – volume: 6
  year: 2015
  ident: MSE_928_3_032016bib4
  article-title: AGV Path Planning Based On Smoothing A* Algorithm
  publication-title: International Journal of Software Engineering & Applications (IJSEA)
  contributor:
    fullname: Yang
– volume: 67
  year: 2013
  ident: MSE_928_3_032016bib5
  article-title: The A-r-Star (A*r) Pathfinder
  publication-title: International Journal of Computer Applications (0975 – 8887)
  contributor:
    fullname: Opoku
– year: 2005
  ident: MSE_928_3_032016bib3
  contributor:
    fullname: Choset
– volume: 39
  year: 2012
  ident: MSE_928_3_032016bib12
  article-title: Comparative Study of Different Path Planning Algorithms: A Water based Rescue System
  publication-title: International Journal of Computer, Applications (0975 – 8887)
  contributor:
    fullname: Masudur Rahman Al-Arif
– year: 2010
  ident: MSE_928_3_032016bib1
  contributor:
    fullname: Bell
– year: 2014
  ident: MSE_928_3_032016bib6
  article-title: Path planning with modified A star algorithm for a mobile robot
  doi: 10.1016/j.proeng.2014.12.098
  contributor:
    fullname: Ducho
– year: 2016
  ident: MSE_928_3_032016bib7
  article-title: Survey of Robot 3D Path Planning Algorithms
  doi: 10.1155/2016/7426913
  contributor:
    fullname: Yang
– year: 2010
  ident: MSE_928_3_032016bib11
  contributor:
    fullname: Abu-Bakar
– year: 2016
  ident: MSE_928_3_032016bib9
  article-title: Survey of Robot 3D Path Planning Algorithms
  doi: 10.1155/2016/7426913
  contributor:
    fullname: Yang
– year: 2006
  ident: MSE_928_3_032016bib2
  contributor:
    fullname: Schouwenaars
– year: 2007
  ident: MSE_928_3_032016bib10
  contributor:
    fullname: van den Berg
– year: 1991
  ident: MSE_928_3_032016bib8
  contributor:
    fullname: Latombe
SSID ssj0067440
Score 2.219248
Snippet Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms...
Abstract Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning...
SourceID proquest
crossref
iop
SourceType Aggregation Database
Enrichment Source
Publisher
StartPage 32016
SubjectTerms Algorithms
Barriers
Dynamic environment
Obstacle avoidance
Path planning
Sphere space
SummonAdditionalLinks – databaseName: IOP Publishing
  dbid: O3W
  link: http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3fS8MwEA5uvuiD-BOnUyL4JrVL0h_J43AbQ5gKc7i3kCaNDnQdc_7_XtIWHSLiW2nTNnwk992Ru-8QugSG0UBrJogzWMFRZETALaGBSymEqFkDqbvi5NFdMpxEt9O4zib0tTDFojL913BZCgWXEFYJcTwEwgPDKsQ0FJSHLHQtwEnSQJvAvR0nn3_PnmpjnDj9O18T6d_hpC4S_vU7a_zUgDn8MNKeeQa7aKdyGXG3nOAe2sjn-2j7m5DgARIP4MgFdQMi3CvbzGPWw2OIiXPsEwPwqDAzCy4n7uLu63OxnK1e3g7RZNB_vBkGVVOEQMPeS4JIkDw2ScpyrrVVVFClGaHawD2bRZk1NhdWKWZoojtGWKtYyqgRELkQFafsCDXnxTw_RhiCrUgTk1qiTJSmqVAdnneME0hlYI9JC4U1FHJRal9If2bNuXTgSQeeBPAkkyV4LXQFiMlqG7z_OfpibfRo3F97LhfGtlC7Rv9rILhpFEJ3gOPkXz88RVvUhcu-lLCNmqvlR34GPsUqO_er5hPEBLv7
  priority: 102
  providerName: IOP Publishing
Title Path-Planning Dynamic 3D Space Using Modified A Algorithm
URI https://iopscience.iop.org/article/10.1088/1757-899X/928/3/032016
https://www.proquest.com/docview/2562788226
Volume 928
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwhV1bT8IwFD4ReNEH4zWiSGrim1nG2t36ZFBANOES0chbs7WrkihDwf_v6dgCxERflqzty76155yv7TkfwCV6GIluTVlejDPYdRW3Qu1Qy1wpRNYs0amb5ORe3-8-uw9jb5xvuM3za5WFTcwMtUql2SO30TVTpGsYLVzPPi2jGmVOV3MJjRJUKDIFWobKTbs_fCxssW_K32UpkR7aYh46RY4w0r68jY9tTkOb2UZJ3Kier7mn0iSd_bLRmePp7MFuHjGS5vIX78NWMj2AnbU6gofAhxjHWYX-EGktVeYJa5ERUuKEZPcCSC9VE40RJ2mS5vsrftvi7eMInjvtp9uulWsiWBKXnm-53Ek85QcsCaXUEeU0ksyhUmGbjt1YK51wHUVMUV82FNc6YgGjiiNxcSIvYMdQnqbT5AQIci1XOirQTqTcIAh41AiThjL1URmaY6cKdgGFmC1LX4jsyDoMhQFPGPAEgieYWIJXhStETOSrYP7v6IuN0b1Re6NfzJSuQq1AfzVwNRVO_-4-g21q6HGWOliD8uLrOznHGGIR16EUdu7q-XTBt_vBEJ8D9vIDnWjACg
link.rule.ids 315,783,787,12779,21402,27938,27939,33387,33758,38879,38904,43614,43819,53856,53882
linkProvider ProQuest
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwhV1LTwIxEG4UD-rB-Iwoak28mc2y7b56MkRAVJaYAAm3ZrcPJVF2Ffz_TvcRICZ6beey37bzzbSd-RC6AYYRQGvS8hJYwa4rmRVqh1jmSSFkzQJI3RQnRwO_N3afJt6kPHCbl88qK5-YO2qZCnNGbgM1E0jXIFq4yz4toxplbldLCY1NtOVSIBpTKd59qDyxb5rf5QWRHnhiFjpVhTAkfeUYm9iMhDa1jY640TxfIafNaZr98tA57XT30V4ZL-JW8YMP0IaaHaLdlS6CR4i9QBRnVepDuF1ozGPaxkNIiBXOXwXgKJVTDfEmbuHW-yt82eLt4xiNu53Rfc8qFREsARvPt1zmKE_6AVWhEDomjMSCOkRIGNOJm2ipFdNxTCXxRVMyrWMaUCIZpC1O7AX0BNVm6UydIgyZliscGWgnlm4QBCxuhqopTXdUCs7YqSO7goJnReMLnl9YhyE34HEDHgfwOOUFeHV0C4jxcg_M_7W-XrOOhp21eZ5JXUeNCv2l4XIhnP09fYW2e6Ooz_uPg-dztENMopwXETZQbfH1rS4gmlgkl_mS-QH3jb6s
linkToPdf http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV3JTsMwEB2xSAgO7IiyGokbSlPb2XysaCu2QiVA6s1K7BgQ0Fa0vfD1jLMABSGEuEXJOHFe7FmUmTcAh2hhFJo17fgJrmDP08KJDGWOTSnEqFmhUbfFye3L4OTWO-v63SlovtfC9AeF6q_iYU4UnENYJMRFLho8VKxCdF3BIpe7tgU4DdyBNtMwi_vXtwv99KpTKuTAcuBldZHZuIiWhcI_3mvCRk3jPL4p6sz6tJbyLJFhRlpok04eq-NRUlWvXygd__1iy7BY-Kekng9agam0twoLn1gL10B00Gt0ym5HpJH3tCe8Qa4xAE9JloVA2n39YNC_JXVSf7rrvzyM7p_X4bbVvDk-cYoODI7CjR44nqCpr4OQp5FSJmaCxYpTpjSeM4mXGG1SYeKYaxaomhbGxDzkTAsMk2jsh3wDZnr9XroJBCM7T1EdGhprLwxDEdeitKYtGytH5U8r4JaYy0FOtCGzH-RRJC0w0gIjERjJZQ5MBY4QSVnsueGv0gcT0u3r5sR1iTBXYKf8zB-C6BOyEOMQFmz96YH7MNdptOTF6eX5NswzG6ZnJYw7MDN6Gae76MuMkr1spb4BNBThcw
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Path-Planning+Dynamic+3D+Space+Using+Modified+A+Algorithm&rft.jtitle=IOP+conference+series.+Materials+Science+and+Engineering&rft.au=Al+Gburi+Hussein+Qahtan&rft.au=AL-Baiati%2C+Ali+Emad&rft.date=2020-11-01&rft.pub=IOP+Publishing&rft.issn=1757-8981&rft.eissn=1757-899X&rft.volume=928&rft.issue=3&rft_id=info:doi/10.1088%2F1757-899X%2F928%2F3%2F032016
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1757-8981&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1757-8981&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1757-8981&client=summon