International Journal of Engineering and Emerging Technology
Vol 6 No 2 (2021): July - December 2021

Dynamic Map Pathfinding Using Hierarchical Pathfinding Theta-Star (HPT*) Algorithm

Irfan Darwin (Bina Nusantara University)
Suryadiputra Liawatimena (Bina Nusantara University)

Article Info

Publish Date
25 Aug 2022

Abstract

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 abstracting a large map into several clusters. What this combination lacks is 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.

Copyrights © 2021




Citation Download
RIS
EndNote, Reference Manager, ProCite
BibTex
Latex, Jabref
Original Source
Download Original
Google Scholar
Check in Google Scholar
Journal Info
International Journal of Engineering and Emerging Technology
Website

Abbrev

ijeet

Publisher

Universitas Udayana

Subject

Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Mechanical Engineering

Description

International Journal of Engineering and Emerging Technology is the biannual official publication of the Doctorate Program of Engineering Science, Faculty of Engineering, Udayana University. The journal is open to submission from scholars and experts in the wide areas of engineering, such as civil ...