Dynamic Path Planning with Stable Growing Neural Gas

Carsten Hahn, Sebastian Feld, Manuel Zierl, Claudia Linnhoff-Popien

2019

Abstract

This paper considers the problem of path planning under dynamic aspects. We propose ”Neural Gas Dynamic Path Planning” (NGDPP), a novel algorithm that continuously provides a valid path between two points inside an environment that transforms in an unpredictable manner. These transformations can occur due to both, changes in the environment’s shape and moving collision objects. The algorithm incorporates several techniques: Neural Gas, a dynamic discretization method; the A* Algorithm, a path planning algorithm for graphs; and the Potential Field method, which facilitates the avoidance of collisions. We empirically evaluate the proposed algorithm under various aspects providing performance information and guidance about situations and applications benefiting from the algorithm. The evaluation reveals that NGDPP is a solid algorithm for path planning in dynamic environments. Yet, the algorithm is based on heuristic information, i.e. a optimal result in term of the path length cannot be guaranteed.

Paper Citation

in Harvard Style

Hahn C., Feld S., Zierl M. and Linnhoff-Popien C. (2019). Dynamic Path Planning with Stable Growing Neural Gas.In Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-350-6, pages 138-145. DOI: 10.5220/0007313001380145

in Bibtex Style

@conference{icaart19,
author={Carsten Hahn and Sebastian Feld and Manuel Zierl and Claudia Linnhoff-Popien},
title={Dynamic Path Planning with Stable Growing Neural Gas},
booktitle={Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2019},
pages={138-145},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007313001380145},
isbn={978-989-758-350-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Dynamic Path Planning with Stable Growing Neural Gas
SN - 978-989-758-350-6
AU - Hahn C.
AU - Feld S.
AU - Zierl M.
AU - Linnhoff-Popien C.
PY - 2019
SP - 138
EP - 145
DO - 10.5220/0007313001380145