Cagigas Muñiz, DanielAbascal, Julio2020-02-142020-02-142005Cagigas Muñiz, D. y Abascal, J. (2005). A Hierarchical Extension of the D ∗ Algorithm. Journal of Intelligent and Robotic Systems, 42, 393-413.0921-0296https://hdl.handle.net/11441/93180In this paper a contribution to the practice of path planning using a new hierarchical extension of the D ∗ algorithm is introduced. A hierarchical graph is stratified into several abstraction levels and used to model environments for path planning. The hierarchical D∗ algorithm uses a downtop strategy and a set of pre-calculated trajectories in order to improve performance. This allows optimality and specially lower computational time. It is experimentally proved how hierarchical search algorithms and on-line path planning algorithms based on topological abstractions can be combined successfully.application/pdfengAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Efficient path planningHierarchical searchD ∗ algorithmMobile robotsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1007/s10846-005-2962-x