Article
Hierarchical D ∗ algorithm with materialization of costs for robot path planning
Author/s | Cagigas Muñiz, Daniel |
Department | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Publication Date | 2005 |
Deposit Date | 2020-02-17 |
Published in |
|
Abstract | In this paper a new hierarchical extension of the D
∗ algorithm for robot path planning is introduced. The hierarchical D
∗
algorithm uses a down-top strategy and a set of precalculated paths (materialization of path ... In this paper a new hierarchical extension of the D ∗ algorithm for robot path planning is introduced. The hierarchical D ∗ algorithm uses a down-top strategy and a set of precalculated paths (materialization of path costs) in order to improve performance. This on-line path planning algorithm allows optimality and specially lower computational time. H-Graphs (hierarchical graphs) are modified and adapted to support on-line path planning with materialization of costs and multiple hierarchical levels. Traditional on-line robot path planning focused in horizontal spaces is also extended to vertical and interbuilding spaces. Some experimental results are showed and compared to other path planning algorithms. |
Citation | Cagigas Muñiz, D. (2005). Hierarchical D ∗ algorithm with materialization of costs for robot path planning. Robotics and Autonomous Systems, 52 (2-3), 190-208. |
Files | Size | Format | View | Description |
---|---|---|---|---|
Hierarchical Dast algorithm.pdf | 862.7Kb | [PDF] | View/ | |