International Journal of Computational Intelligence Systems

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Volume 14, Issue 1, 2021, Pages 1066 - 1077

Modified 2-Way Wavefront (M2W) Algorithm for Efficient Path Planning

Authors
Ayesha Maqbool1, *, Alina Mirza2, Farkhanda Afzal3
1Department of Computer Science, NBC, National University of Sciences and Technology, Islamabad, Pakistan
2Department of Electrical Engineering, MCS, National University of Sciences and Technology, Islamabad, Pakistan
3Department of H&BS, MCS, National University of Sciences and Technology, Islamabad, Pakistan
*Corresponding author. Email: ayesha.maqbool@mcs.edu.pk
Corresponding Author
Ayesha Maqbool
Received 16 January 2020, Accepted 15 February 2021, Available Online 15 March 2021.
DOI
10.2991/ijcis.d.210305.002How to use a DOI?
Keywords
Robotic path planning; Safe path generation; Wavefront algorithms; Self-organizing maps; Artificial potential fields; Navigational function; Glasius model
Abstract

In this paper modified 2-way wavefront algorithm(M2W) is introduced for the discretized path planning problem. The proposed scheme uses the Glasius model, wavefront navigational function, and adaptation of Artificial Potential Fields (APF) for effective obstacle avoidance. Unlike the APF, it does not suffer from local minima, and it addresses the shortcoming of the navigational method by generating paths that are not “too close” to obstacles. Furthermore, compared to the Glasius model, M2W's computation time is significantly reduced, especially in a complex workspace with a higher density of obstacles. The proposed algorithm is also simulated with an additional set of planning constraints to demonstrate the adaptability of the M2W for constraint planning problems.

Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
International Journal of Computational Intelligence Systems
Volume-Issue
14 - 1
Pages
1066 - 1077
Publication Date
2021/03/15
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.d.210305.002How to use a DOI?
Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Ayesha Maqbool
AU  - Alina Mirza
AU  - Farkhanda Afzal
PY  - 2021
DA  - 2021/03/15
TI  - Modified 2-Way Wavefront (M2W) Algorithm for Efficient Path Planning
JO  - International Journal of Computational Intelligence Systems
SP  - 1066
EP  - 1077
VL  - 14
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.d.210305.002
DO  - 10.2991/ijcis.d.210305.002
ID  - Maqbool2021
ER  -