Consideration of obstacle danger level in path planning using A* and Fast-Marching optimisation: comparative study

Obstacle danger level is taken into consideration in path planning using fractional potential maps. This paper describes the two optimisation methods tested: the A* algorithm and the Fast-Marching technique. The efficiency of the two approaches is illustrated and compared through a vehicle path planning application in a fixed obstacle environment. A* is a heuristically ordered research algorithm and is complete and admissible. Fast-Marching provides a convex map without local minima and permits real-time evaluation of optimal trajectories. A vehicle path planning application is considered in a fixed obstacle environment. A specific danger level is given to each obstacle. The obtained continuous curve trajectories are compared.

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