Przybylski, Maciej ; Putz, Barbara
Współtwórca:Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Tytuł:D* Extra Lite: A dynamic A* with search-tree cutting and frontier-gap repairing
Tytuł publikacji grupowej: Temat i słowa kluczowe:shortest-path planning ; incremental heuristic search ; mobile robot navigation ; video games
Abstract:Searching for the shortest-path in an unknown or changeable environment is a common problem in robotics and video games, in which agents need to update maps and to perform re-planning in order to complete their missions. D* Lite is a popular incremental heuristic search algorithm (i.e., it utilizes knowledge from previous searches). Its efficiency lies in the fact that it re-expands only those parts of the search-space that are relevant to registered changes and the current state of the agent. In this paper, we propose a new D* Extra Lite algorithm that is close to a regular A*, with reinitialization of the affected search-space achieved by search-tree branch cutting. ; The provided worst-case complexity analysis strongly suggests that D* Extra Lite`s method of reinitialization is faster than the focused approach to reinitialization used in D* Lite. In comprehensive tests on a large number of typical two-dimensional path-planning problems, D* Extra Lite was 1.08 to 1.94 times faster than the optimized version of D* Lite. Moreover, while demonstrating that it can be particularly suitable for difficult, dynamic problems, as the problem-complexity increased, D* Extra Lite`s performance further surpassed that of D*Lite. The source code of the algorithm is available on the open-source basis.
Wydawca:Zielona Góra: Uniwersytet Zielonogórski
Data wydania: Typ zasobu: DOI: Strony: Źródło:AMCS, volume 27, number 2 (2017) ; kliknij tutaj, żeby przejść
Jezyk: Licencja CC BY 4.0: Prawa do dysponowania publikacją: