2020-02-172020-02-172005Cagigas Muñiz, D. (2005). Hierarchical D ∗ algorithm with materialization of costs for robot path planning. Robotics and Autonomous Systems, 52 (2-3), 190-208.0921-8890https://hdl.handle.net/11441/93231In 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.application/pdfengAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Path planningHierarchical searchD ∗ algorithmMobile robotsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccess10.1016/j.robot.2005.04.0056637147