Primerjava iskalnih algoritmov za navigacijo v dinamičnem 3d-prostoru in grafična predstavitev poteka iskanja : diplomsko delo

Višnar, Tristan

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Title:	Primerjava iskalnih algoritmov za navigacijo v dinamičnem 3d-prostoru in grafična predstavitev poteka iskanja : diplomsko delo
Authors:	ID Višnar, Tristan (Author) ID Mongus, Domen (Mentor) More about this mentor...
Files:	UN_Visnar_Tristan_2022.pdf (1,84 MB) MD5: BEEBEADB13B50F576800089C4DF90532
Language:	Slovenian
Work type:	Bachelor thesis/paper
Typology:	2.11 - Undergraduate Thesis
Organization:	FERI - Faculty of Electrical Engineering and Computer Science
Abstract:	Navigacija vozil, ki se je do sedaj večinoma izvajala na 2D-površini, se z razvojem samoletečih letalnikov seli tudi na 3D-prostor. V diplomskem delu smo preizkusili, kako se algoritmi, ki jih uporabljamo v 2D, obnašajo v 3D-okolju. Implementirali smo algoritme Djikstra, A* in LPA* ter jih primerjali med seboj. Rezultati so pokazali, da je v večini primerov LPA* hitrejši od ostalih algoritmov. Slabši je v primeru, ko se v prostoru več kot 50 % prehodnih vokslov spremeni v ovire. Uporaba LPA* je najboljša v primerih, ko prihaja do pogostih manjših sprememb, ob velikih spremembah pa je bolje uporabiti A*.
Keywords:	navigacija, iskanje najkrajše poti, vokselski prostor, teorija grafov
Place of publishing:	Maribor
Place of performance:	Maribor
Publisher:	[T. Višnar]
Year of publishing:	2022
Number of pages:	1 spletni vir (1 datoteka PDF (VIII, 46 f.))
PID:	20.500.12556/DKUM-81948
UDC:	004.925:656.052.4(043.2)
COBISS.SI-ID:	128535043
Publication date in DKUM:	17.10.2022
Views:	805
Downloads:	60
Metadata:
Categories:	KTFMB - FERI
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Licences

License:	CC BY 4.0, Creative Commons Attribution 4.0 International

Link:	http://creativecommons.org/licenses/by/4.0/
Description:	This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:	21.06.2022

Secondary language

Language:	English
Title:	Comparison of search algorithms for navigation in dynamic 3d space and graphic presentation of search course
Abstract:	Vehicles had, until recently, mostly used 2D planes for navigation. With the development of commercial drones, the navigational environment changed from 2D plane to 3D space. In this paper, we were trying to determine how algorithms used in 2D planes act in 3D space. We implemented three algorithms: Djikstra, A* and LPA, and compared them to each other. Results have shown that in most cases LPA was faster than other algorithms. It performed worse only in cases where more than 50% of voxels were replaced by an obstacle. The use of LPA* was the best in cases where small and frequent changes occurred, while A* was a better choice when changes were bigger.
Keywords:	navigation, shortest path search, voxel space, graph theory

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