ISPRS International Journal of Geo-Information · 2013 · 24 citations · 12 references
ComputingComputer ScienceRobotics EngineeringMotion PlanningPath PlanningRoboticsAutonomous NavigationHeuristic SearchNavigation PlanningRobot NavigationShortest Path AlgorithmsTrajectory GenerationDijkstra's AlgorithmHeuristic Search In RoboticsIndoor NavigationMemory CapacityNavigationRobot Path PlanningRobotic Path PlanningTrajectory Planning
Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity). This paper presents the HCTNav path-planning algorithm (HCTLab research group’s navigation algorithm). This algorithm was designed to be run in low-cost robots for indoor navigation. The results of the comparison between HCTNav and the Dijkstra’s algorithms show that HCTNav’s memory peak is nine times lower than Dijkstra’s in maps with more than 150,000 cells.
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Adhi Harmoko S, M.Komp, Joseph Marie Jacquard et al. · 2005 · 18.4K citations
Algorithm for computer control of a digital plotter
Jack Bresenham · IBM Systems Journal · 1965 · 2.2K citations