Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
9654543 | Robotics and Autonomous Systems | 2005 | 19 Pages |
Abstract
In this paper a new hierarchical extension of the Dâ algorithm for robot path planning is introduced. The hierarchical Dâ algorithm uses a down-top strategy and a set of precalculated paths (materialization of path costs) in order to improve performance. This on-line path planning algorithm allows optimality and specially lower computational time. H-Graphs (hierarchical graphs) are modified and adapted to support on-line path planning with materialization of costs and multiple hierarchical levels. Traditional on-line robot path planning focused in horizontal spaces is also extended to vertical and interbuilding spaces. Some experimental results are showed and compared to other path planning algorithms.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Daniel Cagigas,