A Hierarchical Extension of the D ∗ Algorithm
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 strat...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión enviada para evaluación y publicación |
| Fecha de publicación: | 2005 |
| País: | España |
| Institución: | Universidad de Sevilla (US) |
| Repositorio: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/93180 |
| Acceso en línea: | https://hdl.handle.net/11441/93180 https://doi.org/10.1007/s10846-005-2962-x |
| Access Level: | acceso abierto |
| Palabra clave: | Efficient path planning Hierarchical search D ∗ algorithm Mobile robots |
| Sumario: | 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. |
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