www.elsevier.com/locate/sigpro 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 e4ciency of the two approaches is illustrated and compared through a vehicle path planning application in a 5xed 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 5xed obstacle environment. A speci5c danger level is given to each obstacle. The obtained continuous curve trajectories are compared