This repository accompanies the paper submission titled

"Cognitive Sampling-based Potential-driven Online Planner (CoSaP) for Autonomous Mobile Robots"
Author: Harishma Prakash, Abish Mariyappan, Aiswarya Ganesan, and Sugin Elankavi Rajendran
Affiliation: Chennai Institute of Technology, India

CoSaP is a novel path planning algorithm designed to operate efficiently in completely unknown environments. It intelligently samples nodes in the space using cognitive based goal-biased heuristics, deriving potential field paths for local goal opted from sampled nodes in iteration until the goal is reached.

🚫 Note: The core pseudocode and implementation details are withheld due to current journal review. This repository provides validated results and context for review purposes only.

• Efficient global path planner in both unknown and known environments
• Works without prior maps, compatible with SLAM/local planners like DWA
• Demonstrates better performance than classical planners; RRT, D* Lite, A*, Bug2 (As per the benchmark results) in:
  • ⏱️ Time to goal
  • 📏 Path optimality
  • 💾 Memory and computation cost

This repository includes:

• 📈 Performance comparison graphs
• 🧪 Simulation snapshots from Matplotlib-based planner
• 🧮 Environment setups used for evaluation (grid maps)

Please see the /benchmark_results folder for plots and benchmark graphs.

This work is shared under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0).
You may view and share, but not reuse or modify the contents.

The map (map_clean.png) used for benchmarking CoSaP were obtained from the Moving AI Lab's pathfinding benchmark suite:

N. Sturtevant, “Benchmarks for grid-based pathfinding,” Moving AI Lab, [Online]. Available: https://movingai.com/benchmarks/dao/index.html. Accessed on: Jul. 15, 2025.

Please refer to their site for reuse policies and citation requirements.

For academic inquiries, feel free to reach out:

Harishma Prakash
Undergraduate Researcher
Chennai Institute of Technology, India
GitHub: @Harishma356
Email: [[email protected]]