文章基本信息

标题：DYNAMIC MAP PATHFINDING USING HIERARCHICAL PATHFINDING THETA STAR ALGORITHM
本地全文：下载
作者：IRFAN DARWIN ; SURYADIPUTRA LIAWATIMENA
期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2021
卷号：99
期号：20
语种：English
出版社：Journal of Theoretical and Applied
摘要：Theta Star is an efficient algorithm that can be used to find an optimal path in a map with better performance compared to the A-Star algorithm. Combining the Theta Star with Hierarchical Pathfinding further enhances its performance by ing a large map into several clusters. What this combination lacks are the capability to handle a dynamic element in the map. Without that capability, the agent could potentially collide with elements in the map that is undesirable in certain conditions, while adding that capability might reduce the pathfinding algorithm's performance. The proposed algorithm aims to provide the capability to handle dynamic elements without severe negative impact on the performance of the algorithm. The effectiveness of the proposed algorithm is verified in terms of execution time, number of nodes explored, final path length, and the number of collisions that occurred.
关键词：Artificial Intelligence;Dynamic Map;Grid-Based;Hierarchical Pathfinding;Theta St