Planning as search: a quantitative approach
Artificial Intelligence
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Multihierarchical Graph Search
IEEE Transactions on Pattern Analysis and Machine Intelligence
Traversability Analysis and Path Planning for a Planetary Rover
Autonomous Robots
Planning Algorithms
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Fast replanning for navigation in unknown terrain
IEEE Transactions on Robotics
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Inspired by the Witkowski's algorithm, we introduce a novel path planning and replanning algorithm - the two-way D^* (TWD^*) algorithm - based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski's algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD^* algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD^* algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D^* algorithm as it consists of straight line segments with continuous headings. The TWD^* algorithm is tested and compared to the D^* and Witkowski's algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.