Algorithms for Robust Path-Planning
Typ
Examensarbete för masterexamen
Program
Engineering mathematics and computational science (MPENM), MSc
Publicerad
2020
Författare
Jonsson Damgaard, Thomas
Åkerlund, Jens
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Route optimization is a commonly studied field of optimization resulting in pathplanning
algorithms. In this project, alternative route generation and robustness
analysis were conducted for common road networks and off-road terrains. This was
done using Open Street Map data and high-resolution terrain data provided by
Vricon and Lantmäteriet. Alternative routes were generated using a constructed
2-way search algorithm. Robustness analysis was split into a physical robustnessindex
and a non-physical robustness simulation. The generated routes conform to
the constructed robustness-index, which is sensitive to weather conditions when
traversing terrain. The simulation is applied to the generated routes to visualize
additional penalty times where the user can identify critical points along said route.
This is done using a robustness simulation which creates obstacles along the chosen
path and calculates the additional time needed. The final result is a complete
Java program connected to Carmenta Engine, a map engine provided by Carmenta.
The resulting program showed conceptually promising routes, providing reasonable
alternatives while accounting for current weather conditions.
Beskrivning
Ämne/nyckelord
route optimization, alternative routes, robustness algorithms, off-road trafficability, high resolution raster data, GIS.