HGA*, an efficient algorithm for path planning in a plane

Authors:
K. S. Yakovlev
Affiliations:
-
Venue:
Scientific and Technical Information Processing
Year:
2010

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Abstract

Existing and prospective approaches and methods are considered for path planning in a plane. The existing planning algorithms are analyzed and qualitatively assessed. A new efficient path-planning algorithm, HGA*, is described, which enables searching for a plan under conditions of limited time and computational resources and under additional constraints (such as the dynamic changes and partial observability of the planning terrain). The results are presented, which show the experimentally proven advantages of HGA* over the available analogues.