Conclusion and future work

First, the FM* algorithm appears to be the best static trajectory planning algorithm (better than A*) both in terms of computation time and smoothness of the trajectory solutions. Second, dynamic trajectory planning algorithms are faster than static planners after a limited amount of time. Third, the DFM algorithm is slower than the D* Lite algorithm but it allows the curvature of the trajectories to be controllable.

Contrary to D* Lite, DFM algorithm does not include any heuristic to speed up the exploration process. One interesting direction for further research would be to develop what could be called the DFM* algorithm. A novel DFM* algorithm would combine the accuracy of the DFM algorithm with the exploration efficiency of the FM* algorithm.

Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

Post a comment