MarAl15 / TSI-PathPlanning

Implementation of the A* and Jump Point Search (JPS) algorithms

Path Planning

Implementation of the A* and Jump Point Search (JPS) algorithms in ROS.

Experiment 1

A* algorithm	JPS algorithm

Path is shown in blue, expanded nodes in green and explored nodes in red.

Algorithm	Time	Expanded nodes	Distance (metres)	Distance (nodes)
A*	1.40	3,374	10.301218	182
JPS	1.00	433	11.093591	243

Experiment 2

A* algorithm	JPS algorithm

Algorithm	Time	Expanded nodes	Distance (metres)	Distance (nodes)
A*	191.30	39,552	37.831396	709
JPS	1.30	541	38.814111	751

Experiment 3

A* algorithm	JPS algorithm

Algorithm	Time	Expanded nodes	Distance (metres)	Distance (nodes)
A*	1530.20	72,846	50.038218	920
JPS	3.80	1,281	53.010	1,081

Conclusions

For short paths there is not much difference in time and distance, although for expanded nodes there is a more significant difference.

We get noticeable improvements in search time and memory as the distance between start and end points increases, as well as the obstacles encountered along the way. The difference in distance is minimal compared to the improvements we get in time and expanded nodes.