| Title: | the bdd-based dynamic a* algorithm for real-time replanning |
| Author: | Xu Yanyan
; Yue Weiya
; Su Kaile
|
| Source: | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
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| Conference Name: | 3rd International Workshop on Frontiers in Algorithmics
|
| Conference Date: | JUN 20-23,
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| Issued Date: | 2009
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| Conference Place: | Hefei, PEOPLES R CHINA
|
| Keyword: | Modular robots
; Navigation
; Robot programming
|
| Publisher: | FRONTIERS IN ALGORITHMICS, PROCEEDINGS
|
| Publish Place: | HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
|
| ISSN: | 0302-9743
|
| ISBN: | 978-3-642-02269-2
|
| Department: | Xu, Yanyan Chinese Acad Sci, Inst Software, State Key Lab Comp Sci, Beijing, Peoples R China.
|
| English Abstract: | Finding optimal path through a graph efficiently is central to many problems; including route planning for a mobile robot. BDD-based incremental heuristic search method uses heuristics to focus their search and reuses BDD-based information from previous searches to find solutions to series of similar search problems much faster than solving each search problem from scratch. In this paper, we apply BDD-based incremental heuristic search to robot navigation in unknown terrain, including goal-directed navigation in unknown terrain and mapping of unknown terrain. The resulting BDD-based dynamic A* (BDDD*) algorithm is capable of planning paths in unknown, partially known and changing environments in an efficient, optimal, and complete manner. We present properties about BDDD* and demonstrate experimentally the advantages of combining BDD-based incremental and heuristic search for the applications studied. We believe that our experimental results will make BDD-based D* like replanning algorithms more popular and enable robotics researchers to adapt them to additional applications. |
| Content Type: | 会议论文
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| URI: | http://ir.iscas.ac.cn/handle/311060/8340
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| Appears in Collections: | 计算机科学国家重点实验室 _会议论文
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| Recommended Citation: | |
Xu Yanyan,Yue Weiya,Su Kaile. the bdd-based dynamic a* algorithm for real-time replanning[C]. 见:3rd International Workshop on Frontiers in Algorithmics. Hefei, PEOPLES R CHINA. JUN 20-23,.
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