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Artículo
Hierarchical D ∗ algorithm with materialization of costs for robot path planning
dc.creator | Cagigas Muñiz, Daniel | es |
dc.date.accessioned | 2020-02-17T11:47:21Z | |
dc.date.available | 2020-02-17T11:47:21Z | |
dc.date.issued | 2005 | |
dc.identifier.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. | |
dc.identifier.issn | 0921-8890 | es |
dc.identifier.uri | https://hdl.handle.net/11441/93231 | |
dc.description.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 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. | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | Robotics and Autonomous Systems, 52 (2-3), 190-208. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Path planning | es |
dc.subject | Hierarchical search | es |
dc.subject | D ∗ algorithm | es |
dc.subject | Mobile robots | es |
dc.title | Hierarchical D ∗ algorithm with materialization of costs for robot path planning | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0921889005000680 | es |
dc.identifier.doi | 10.1016/j.robot.2005.04.005 | es |
idus.format.extent | 19 | es |
dc.journaltitle | Robotics and Autonomous Systems | es |
dc.publication.volumen | 52 | es |
dc.publication.issue | 2-3 | es |
dc.publication.initialPage | 190 | es |
dc.publication.endPage | 208 | es |
dc.identifier.sisius | 6637147 | es |
Ficheros | Tamaño | Formato | Ver | Descripción |
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Hierarchical Dast algorithm.pdf | 862.7Kb | [PDF] | Ver/ | |