the bdd-based dynamic a* algorithm for real-time replanning
文献类型：会议论文
| 作者 | Xu Yanyan ; Yue Weiya ; Su Kaile |
| 出版日期 | 2009 |
| 会议名称 | 3rd International Workshop on Frontiers in Algorithmics |
| 会议日期 | JUN 20-23, |
| 会议地点 | Hefei, PEOPLES R CHINA |
| 关键词 | Modular robots Navigation Robot programming |
| 英文摘要 | Finding optimal path through a graph efficiently is central to many problems; including route planning for a mobile robot. BDD-based incremental heuristic search method uses heuristics to focus their search and reuses BDD-based information from previous searches to find solutions to series of similar search problems much faster than solving each search problem from scratch. In this paper, we apply BDD-based incremental heuristic search to robot navigation in unknown terrain, including goal-directed navigation in unknown terrain and mapping of unknown terrain. The resulting BDD-based dynamic A* (BDDD*) algorithm is capable of planning paths in unknown, partially known and changing environments in an efficient, optimal, and complete manner. We present properties about BDDD* and demonstrate experimentally the advantages of combining BDD-based incremental and heuristic search for the applications studied. We believe that our experimental results will make BDD-based D* like replanning algorithms more popular and enable robotics researchers to adapt them to additional applications. |
| 会议录 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
 |
| 会议录出版者 | FRONTIERS IN ALGORITHMICS, PROCEEDINGS |
| 会议录出版地 | HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-642-02269-2 |
| 源URL | [http://124.16.136.157/handle/311060/8340]  |
| 专题 | 软件研究所_计算机科学国家重点实验室 _会议论文 |
| 推荐引用方式 GB/T 7714 | Xu Yanyan,Yue Weiya,Su Kaile. the bdd-based dynamic a* algorithm for real-time replanning[C]. 见:3rd International Workshop on Frontiers in Algorithmics. Hefei, PEOPLES R CHINA. JUN 20-23,. |
入库方式： OAI收割
来源：软件研究所
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