In this paper we study the problem of determining optimal paths in a dynamic, 2-D environment. We present a novel cell decomposition approach which generates optimal paths based on a number of di erent optimality criteria, including time-optimal, distance-optimal (shortest paths), and costoptimal paths based on a combination of time and distance. After mapping the dynamic, 2-D environment to a ...

A shortest path problem is a practical issue in networks for real-world situations. This paper addresses the fuzzy shortest path (FSP) problem to obtain the best fuzzy path among fuzzy paths sets. For this purpose, a new efficient algorithm is introduced based on a new definition of ideal fuzzy sets (IFSs) in order to determine the fuzzy shortest path. Moreover, this algorithm is developed for ...

In this study, reference path generation based on waypoints, Dubins curves and obstacle avoidance are focused. The motion of a wheeled robot vehicle is modeled by following the principles of point mass approach. While motion planning is performed, the importance of obtaining the shortest distance between two target points is illustrated. Dubins curves and waypoints are used to construct an opti...

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

Heuristics are a crucial component in modern planning systems. In optimal multiagent planning the state of the art is to compute the heuristic locally using only information available to a single agent. This approach has a major deficiency as the local shortest path can arbitrarily underestimate the true shortest path cost in the global problem. As a solution, we propose a distributed version o...

In this paper a hybrid approach of BBO and BCO technique is used to find the shortest path from source to the target point. The input data is a red band satellite image. In this image there are no prior paths and we don't have any prior information about the area. So path planning is a key factor to find out the optimized path which includes terrain mapping, obstacle detection and avoidance, an...