Eighteenth national conference on Artificial intelligence
Anytime search in dynamic graphs
Artificial Intelligence
DD* lite: efficient incremental search with state dominance
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
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Robot navigation has been of great importance especially under unknown or keep-changing environment. In order to solve this kind of problems, many algorithms have been brought up. D* Lite is generally considered as one of the most functional ones. The better performance of D* Lite largely depends on relatively less updating rather than recalculating terrain cost from scratch between robot movements. However, D* Lite still needs updating, i.e. recalculation, every time a terrain change is discovered. In this paper, we give an efficient method to check out when such recalculation can be fully or partially avoided. Experimental results show that it speeds up to 5 times for a variety of benchmarks including a novel and realistic benchmark. Our idea results in an improved version of D* Lite which we call ID* Lite. Moreover, it can be easily embedded into D* Lite variants such as DD* Lite and anytime D* etc.