Efficiency analysis of path-finding algorithms in a 2D grid environment
Ch. Nirmal Prabhath, M. Kavitha, Kanak Kalita · Journal of Autonomous Intelligence · 2023
This paper offers a focused overview of pathfinding algorithms, particularly emphasizing Greedy Best First Search (G-BFS) and Rapidly-Exploring Random Trees (RRT). Their performance is evaluated within a 2D grid setting tailored for Unmanned Aerial Vehicles (UAVs). Divided into two main sections, the study first expounds on the theoretical underpinnings of these algorithms, followed by empirical validation. A series of systematic experiments, involving varied 2D grid dimensions and traversal patterns, facilitates a comparative analysis between G-BFS and RRT. Importantly, the real-world implementation of these algorithms in UAV navigation underscores their practicality, illuminating their respective execution times and resource utilization. While G-BFS thrives in straightforward scenarios, RRT, especially RRT*, displays superior capability in navigating more intricate and expansive terrains, albeit with marginally extended execution durations attributed to its explorative nature.