Moving target D* Lite

  • Authors:

  • Xiaoxun Sun;William Yeoh;Sven Koenig

  • Affiliations:

  • University of Southern California, Los Angeles, CA;University of Southern California, Los Angeles, CA;University of Southern California, Los Angeles, CA

  • Venue:
  • Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
  • Year:
  • 2010

Quantified Score

Hi-index 0.00

Visualization

Abstract

Incremental search algorithms, such as Generalized Fringe-Retrieving A* and D* Lite, reuse search trees from previous searches to speed up the current search and thus often find cost-minimal paths for series of similar search problems faster than by solving each search problem from scratch. However, existing incremental search algorithms have limitations. For example, D* Lite is slow on moving target search problems, where both the start and goal states can change over time. In this paper, we therefore introduce Moving Target D* Lite, an extension of D* Lite that uses the principle behind Generalized Fringe-Retrieving A* to repeatedly calculate a cost-minimal path from the hunter to the target in environments whose blockages can change over time. We demonstrate experimentally that Moving Target D* Lite is four to five times faster than Generalized Adaptive A*, which so far was believed to be the fastest incremental search algorithm for solving moving target search problems in dynamic environments.