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Performance Evaluation of Pathfinding Algorithms University of Windsor Scholarship at UWindsor Electronic Theses and Dissertations Theses, Dissertations, and Major Papers 1-1-2020 Performance Evaluation of Pathfinding Algorithms Harinder Kaur Sidhu University of Windsor Follow this and additional works at: https://scholar.uwindsor.ca/etd Recommended Citation Sidhu, Harinder Kaur, "Performance Evaluation of Pathfinding Algorithms" (2020). Electronic Theses and Dissertations. 8178. https://scholar.uwindsor.ca/etd/8178 This online database contains the full-text of PhD dissertations and Masters’ theses of University of Windsor students from 1954 forward. These documents are made available for personal study and research purposes only, in accordance with the Canadian Copyright Act and the Creative Commons license—CC BY-NC-ND (Attribution, Non-Commercial, No Derivative Works). Under this license, works must always be attributed to the copyright holder (original author), cannot be used for any commercial purposes, and may not be altered. Any other use would require the permission of the copyright holder. Students may inquire about withdrawing their dissertation and/or thesis from this database. For additional inquiries, please contact the repository administrator via email ([email protected]) or by telephone at 519-253-3000ext. 3208. Performance Evaluation of Pathfinding Algorithms By Harinder Kaur Sidhu A Thesis Submitted to the Faculty of Graduate Studies through the School of Computer Science in Partial Fulfillment of the Requirements for the Degree of Master of Science at the University of Windsor Windsor, Ontario, Canada 2019 © 2019 Harinder Kaur Sidhu Performance Evaluation of Pathfinding Algorithms by Harinder Kaur Sidhu APPROVED BY: ______________________________________________ C. Semeniuk Great Lakes Institute for Environmental Research ______________________________________________ A. Jaekel School of Computer Science ______________________________________________ S. Goodwin, Advisor School of Computer Science December 4, 2019 DECLARATION OF ORIGINALITY I hereby certify that I am the sole author of this thesis and that no part of this thesis has been published or submitted for publication. I certify that, to the best of my knowledge, my thesis does not infringe upon anyone’s copyright nor violate any proprietary rights and that any ideas, techniques, quotations, or any other material from the work of other people included in my thesis, published or otherwise, are fully acknowledged in accordance with the standard referencing practices. Furthermore, to the extent that I have included copyrighted material that surpasses the bounds of fair dealing within the meaning of the Canada Copyright Act, I certify that I have obtained a written permission from the copyright owner(s) to include such material(s) in my thesis and have included copies of such copyright clearances to my appendix. I declare that this is a true copy of my thesis, including any final revisions, as approved by my thesis committee and the Graduate Studies office, and that this thesis has not been submitted for a higher degree to any other University or Institution. iii ABSTRACT Pathfinding is the search for an optimal path from a start location to a goal location in a given environment. In Artificial Intelligence pathfinding algorithms are typically designed as a kind of graph search. These algorithms are applicable in a wide variety of applications such as computer games, robotics, networks, and navigation systems. The performance of these algorithms is affected by several factors such as the problem size, path length, the number and distribution of obstacles, data structures and heuristics. When new pathfinding algorithms are proposed in the literature, their performance is often investigated empirically (if at all). Proper experimental design and analysis is crucial to provide an informative and non- misleading evaluation. In this research, we survey many papers and classify them according to their methodology, experimental design, and analytical techniques. We identify some weaknesses in these areas that are all too frequently found in reported approaches. We first found the pitfalls in pathfinding research and then provide solutions by creating example problems. Our research shows that spurious effects, control conditions and sampling bias data can provide misleading results and our case studies provide solutions to avoid these pitfalls. iv DEDICATION I dedicate this work to my fiancée Mandeep Singh. v ACKNOWLEDGEMENTS I would like to express my sincere gratitude towards my advisor Dr. Goodwin for guiding me through my thesis and also for being patient with me and understanding the whole time. I would like to thank him for providing me the knowledge and resources like books and papers required to complete my research work and providing continuous feedback on my work to make it better. I would also like to thank my committee members Dr. Jaekel and Dr. Semeniuk for their support and time. vi TABLE OF CONTENTS DECLARATION OF ORIGINALITY .................................................................................... iii ABSTRACT ......................................................................................................................... iv DEDICATION ...................................................................................................................... v ACKNOWLEDGEMENTS ................................................................................................... vi LIST OF TABLES................................................................................................................. x LIST OF FIGURES .............................................................................................................. xi LIST OF APPENDICES ...................................................................................................... xii CHAPTER 1 Introduction .................................................................................................. 1 1.1 Thesis Claim .................................................................................................................................................... 1 1.2 Pathfinding- Overview ................................................................................................................................ 2 1.2.1 Pathfinding Problem Definition: .................................................................................. 3 1.3 Map Representations: ................................................................................................................................. 3 1.3.1 Tile Grids: ....................................................................................................................... 3 1.3.2 Navigation Mesh: ........................................................................................................... 5 1.3.3 Waypoints: ..................................................................................................................... 5 1.4 Algorithms ....................................................................................................................................................... 6 1.4.1 Informed Pathfinding Algorithms: ............................................................................... 6 1.4.2 Uninformed Pathfinding Algorithms: .......................................................................... 8 1.5 A* Algorithm and its variants: ............................................................................................................... 8 1.6 Thesis Contribution ..................................................................................................................................... 9 1.7 Thesis Organization .................................................................................................................................. 10 CHAPTER 2 Introduction to empirical research and literature review ...................... 12 vii 2.1 Empirical Research ................................................................................................................................... 12 2.2 Need of Empirical Studies ...................................................................................................................... 13 2.3 Problems with Current Research Practices .................................................................................... 14 2.4 Critical Review of Pathfinding Research Papers ........................................................................... 15 2.5 Summarizing the critically reviewed papers ................................................................................. 17 CHAPTER 3 Empirical Research in Pathfinding............................................................ 19 3.1 Motivation..................................................................................................................................................... 19 3.2 Empirical Research and its basic components .............................................................................. 19 3.3 Guidelines for Empirical Research ..................................................................................................... 21 3.3.1 Objective ...................................................................................................................... 21 3.3.2 Experimental Setup ..................................................................................................... 22 3.3.3 Data Collection ............................................................................................................
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