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题名:
the bdd-based dynamic a* algorithm for real-time replanning
作者: Xu Yanyan ; Yue Weiya ; Su Kaile
会议文集: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议名称: 3rd International Workshop on Frontiers in Algorithmics
会议日期: JUN 20-23,
出版日期: 2009
会议地点: Hefei, PEOPLES R CHINA
关键词: Modular robots ; Navigation ; Robot programming
出版者: FRONTIERS IN ALGORITHMICS, PROCEEDINGS
出版地: HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
ISSN: 0302-9743
ISBN: 978-3-642-02269-2
部门归属: Xu, Yanyan Chinese Acad Sci, Inst Software, State Key Lab Comp Sci, Beijing, Peoples R China.
英文摘要: 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.
内容类型: 会议论文
URI标识: http://ir.iscas.ac.cn/handle/311060/8340
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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