Control Algorithm Research

[Ishaan-Datta]

Research Control Algorithms:

• Find the input data requirements
• Find example repositories/libraries demonstrating a usecase similar to ours
• Make notes on the relative performance of each algorithm (accuracy, speed, effectiveness, pros/cons)
• Make a report including your findings Example

Starting Examples:

• A*
• D*-Lite
• Jump Point Search (JPS)
• Theta*
• RRT*
• Probabilistic Roadmap (PRM-D*)
• Bidirectional RRT (Bi-RRT)
• Artificial Potential Fields (APF)
• Trajectory Optimization (CHOMP, STOMP, TrajOpt)
• Model Predictive Control (MPC)
• Hybrid A*-RRT
• Elastic Bands & Elastic Strips
• Bug Algorithm

[Boradurmus1]

Report for RRT and A*:

https://docs.google.com/document/d/1ZqV3VNRgvFRI8-ujGc5Ym8pzgiOL4qX6TXNZIDzUux8/edit?tab=t.0

Reports for all the other algorithms (this version only includes Theta* for now, I will add the other algorithms in this doc):

https://docs.google.com/document/d/1qazDPsAGxJOMx2Pp79RpeHa42yMp4mprPvt-qsWdbjY/edit?usp=sharing