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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 12
3626-3630,3638

Search-based path planning algorithm based on WGAN-GP

Zhou Qi1
Yang Xiaojun1
Lin Haoshen2
Liao Lunjia1
Sun Bo1
1. School of Information Engineering, Guangdong University of Technology, Guangzhou 510006, China
2. Chinese People's Liberation Army Unit 96901, Beijing 100094, China
DOI: 10.19734/j.issn.1001-3695.2022.04.0225

Abstract

In order to improve the exploration efficiency of the search-type path planning algorithm in the C-shaped obstacles, this paper proposed an A* algorithm based on the generative adversarial network. Firstly, the method used a more stable Wasserstein generative adversarial network with gradient penalty(WGAN-GP) to generate regions of interest with a feasible path. Then the algorithm used the A* algorithm to preferentially explore the regions, enabling it to efficiently guide path planning. Finally, it formed a continuous path. According to the experimental simulation verification, compared with the traditional A* algorithm, it saved 31% less planning time and 22.84% less exploration space, and improved the efficiency of the path planning algorithm. Experimental results show that the improved A* algorithm has high exploration efficiency, and it can achieve better application in robot path planning.

Foundation Support

国家自然基金青年项目
科技部重大研发计划资助项目
广东省重大研发计划资助项目
广东省面上自然基金项目

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0225
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 12
Section: Algorithm Research & Explore
Pages: 3626-3630,3638
Serial Number: 1001-3695(2022)12-015-3626-05

Publish History

[2022-07-21] Accepted Paper
[2022-12-05] Printed Article

Cite This Article

周齐, 杨晓君, 林浩申, 等. 基于WGAN-GP的搜索式路径规划算法 [J]. 计算机应用研究, 2022, 39 (12): 3626-3630,3638. (Zhou Qi, Yang Xiaojun, Lin Haoshen, et al. Search-based path planning algorithm based on WGAN-GP [J]. Application Research of Computers, 2022, 39 (12): 3626-3630,3638. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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