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| the bdd-based dynamic a* algorithm for real-time replanning | |
| Xu Yanyan; Yue Weiya; Su Kaile | |
| 2009 | |
| Conference Name | 3rd International Workshop on Frontiers in Algorithmics |
| Source | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Conference Date | JUN 20-23, |
| Conference Place | Hefei, PEOPLES R CHINA |
| Publish Place | HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY |
| Publisher | FRONTIERS IN ALGORITHMICS, PROCEEDINGS |
| 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. |
| Keyword | Modular Robots Navigation Robot Programming |
| Content Type | 会议论文 |
| URI | http://ir.iscas.ac.cn/handle/311060/8340 |
| Collection | 基础软件与系统重点实验室 |
| Recommended Citation GB/T 7714 | Xu Yanyan,Yue Weiya,Su Kaile. the bdd-based dynamic a* algorithm for real-time replanning[C]. HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY:FRONTIERS IN ALGORITHMICS, PROCEEDINGS,2009. |
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