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A novel scalable parallel algorithm for finding optimal paths over heterogeneous terrain

Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

Abstract

The area of path planning has received a great deal of attention recently. Algorithms are required that can deliver optimal paths for robots to take over homogeneous or non-homogeneous terrain. Optimal paths may be those that involve the shortest distance travelled, the least number of turns or the least number of ascents and descents. The often highly complex nature of terrains and the necessity for realtime solutions have lead to a requirement for the development of parallel algorithms. Such problems have been notoriously difficult to parallelise efficiently; indeed it has been said that an efficiency of 25-60% should be considered a success. In this paper we present a parallel algorithm for finding optimal paths over non-homogeneous terrain that demonstrates superlinear speed-up.

Publication Information

Output type

Research Output: Chapter in Book/Report/Conference proceeding Conference contribution Peer-review

Original language

English

Publication milestones

  • Published - 15/09/2005

Publication status

Published - 15/09/2005

Publisher

Institute of Electrical and Electronics Engineers Inc., United States

ISBN (Print)

0769523978

External Publication IDs

  • handle.net: 10547/297906
  • Scopus: 33749076214

Host publication title

Ninth International Conference on Information Visualisation (IV'05)

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