Article
A Hierarchical Extension of the D ∗ Algorithm
Author/s | Cagigas Muñiz, Daniel
![]() ![]() ![]() ![]() ![]() ![]() ![]() Abascal, Julio |
Department | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Publication Date | 2005 |
Deposit Date | 2020-02-14 |
Published in |
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Abstract | In 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 ... In 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. |
Citation | Cagigas Muñiz, D. y Abascal, J. (2005). A Hierarchical Extension of the D ∗ Algorithm. Journal of Intelligent and Robotic Systems, 42, 393-413. |
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