Path Planning Using Wave Front's Improvement Methods

In this paper, we compared several methods that utilized for improving performance and avoiding re-expansion wave in wave expansion algorithm. Wave re-expansion in big scale environments takes considerable amount of time and process. By the use of those it's been tried to prevent the re-expansion of the wave. One of this methods for an environment with moving and suddenly obstacles is used and three methods for an environment with suddenly obstacles. Furthermore, the simulation results reflects that how the methods has improved the wave expansion algorithm and we show the number of cells that compared or changed and length path from start to end and showed productivity toward another than which one is better than another.