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Carpooling has gained considerable importance as an effective solution for reducing pollution, mitigation of traffic and congestion on the roads, reduced demand for parking facilities, lesser energy and fuel consumption and most importantly, reduction in carbon emission, thus improving the quality of life in cities. This work presents a hybrid GA-A* algorithm to obtain optimal routes for the carpooling problem in the domain of multiobjective optimization having multiple conflicting objectives. Though the Genetic Algorithm provides optimal solutions, the A* algorithm because of its efficiency in providing the shortest route between any two points based on heuristics, enhances the optimal routes obtained using the Genetic algorithm. The refined routes obtained using the GA-A* algorithm, are further subjected to dominance test to obtain non-dominating solutions based on Pareto-Optimality. The routes obtained maximize the profit of the service provider by minimizing the travel and detour distance as well as pick-up/drop costs while maximizing the utilization of the car. The proposed algorithm has been implemented over the Salt Lake area of Kolkata. Route distance and detour distance for the optimal routes obtained using the proposed algorithm are consistently lesser for the same number of passengers when compared to the corresponding results obtained from an existing algorithm. Various statistical analysis like boxplots have also confirmed that the proposed algorithm regularly performed better than the existing algorithm using only Genetic Algorithm.

Carpooling has gained considerable importance as an effective solution for reducing pollution, mitigation of traffic and congestion on the roads, reduced demand for parking facilities, lesser energy and fuel consumption and most importantly, reduction in carbon emission, thus improving the quality of life in cities. This work presents a hybrid GA-A* algorithm to obtain optimal routes for the carpooling problem in the domain of multiobjective optimization having multiple conflicting objectives. Though the Genetic Algorithm provides optimal solutions, the A* algorithm because of its efficiency in providing the shortest route between any two points based on heuristics, enhances the optimal routes obtained using the Genetic algorithm. The refined routes obtained using the GA-A* algorithm, are further subjected to dominance test to obtain non-dominating solutions based on Pareto-Optimality. The routes obtained maximize the profit of the service provider by minimizing the travel and detour distance as well as pick-up/drop costs while maximizing the utilization of the car. The proposed algorithm has been implemented over the Salt Lake area of Kolkata. Route distance and detour distance for the optimal routes obtained using the proposed algorithm are consistently lesser for the same number of passengers when compared to the corresponding results obtained from an existing algorithm. Various statistical analysis like boxplots have also confirmed that the proposed algorithm regularly performed better than the existing algorithm using only Genetic Algorithm.

В данной работе исследуется влияние пространственного разрешения дискретизированного (решеточного) представления рабочего пространства на эффективность и корректность поиска оптимального пути в сложных условиях. Рассматриваются сценарии, характеризующиеся возможным наличием узких проходов, неоднородным распределением препятствий и зонами повышенных требований к безопасности в непосредственной окрестности от препятствий. Несмотря на широкое применение решеточных представлений рабочего пространства в робототехнике благодаря их совместимости с сенсорными данными и поддержке классических алгоритмов планирования траекторий, разрешение этих решеток оказывает существенное влияние как на достижимость цели, так и на показатели оптимального пути. Предлагается алгоритм, сочетающий анализ связности пространства, оптимизацию траектории и геометрическое уточнение безопасности. На первом этапе с помощью обобщения алгоритма Лиса (Leath) оценивается достижимость целевой точки путем выявления связной компоненты, содержащей стартовую позицию. При подтверждении достижимости целевой точки на втором этапе алгоритм A* применяется к узлам данной компоненты для построения пути, минимизирующего одновременно как длину пути, так и риск столкновения. На третьем этапе для узлов, расположенных в зонах безопасности, осуществляется уточненная оценка расстояния до препятствий с помощью комбинации алгоритмов Гилберта – Джонсона – Кирти (GJK) и расширяющегося многогранника (EPA). Экспериментальный анализ позволил выявить нелинейную зависимость вероятности существования и эффективности оптимального пути от параметров решетки. В частности, снижение пространственного разрешения решетки повышает вероятность потери связности и недостижимости цели, а увеличение ее пространственного разрешения влечет рост вычислительной сложности без пропорционального улучшения характеристик оптимального пути.

This paper examines the impact of the spatial resolution of a discretized (lattice) representation of the environment on the efficiency and correctness of optimal pathfinding in complex environments. Scenarios are considered that may include bottlenecks, non-uniform obstacle distributions, and areas of increased safety requirements in the immediate vicinity of obstacles. Despite the widespread use of lattice representations of the environment in robotics due to their compatibility with sensor data and support for classical trajectory planning algorithms, the resolution of these lattices has a significant impact on both goal reachability and optimal path performance. An algorithm is proposed that combines environmental connectivity analysis, trajectory optimization, and geometric safety refinement. In the first stage, the Leath algorithm is used to estimate the reachability of the target point by identifying a connected component containing the starting position. Upon confirmation of the target point’s reachability, the A* algorithm is applied to the nodes of this component in the second stage to construct a path that simultaneously minimizes both the path length and the risk of collision. In the third stage, a refined obstacle distance estimate is performed for nodes located in safety zones using a combination of the Gilbert – Johnson –Keerthi (GJK) and expanding polyhedron (EPA) algorithms. Experimental analysis revealed a nonlinear relationship between the probability of the existence and effectiveness of an optimal path and the lattice parameters. Specifically, reducing the spatial resolution of the lattice increases the likelihood of connectivity loss and target unreachability, while increasing its spatial resolution increases computational complexity without a proportional improvement in the optimal path’s performance.