Rapidly replanning A∗

Nuwan Ganganath, Chi Tsun Cheng, Chi Kong Tse

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

In this paper, Rapidly Replanning A∗ (RRA∗) algorithm is proposed for path planning and replanning in partially unknown environments. RRA∗ uses an effective mechanism to reuse previous search results, which considerably accelerates its replanning process compared to repetitive replanning from scratch. RRA∗ guarantees to find an optimal path from the current location of an agent to its target location based on the available information. Simulation results verify the optimality of the path generated by RRA∗ and the superior efficiency of RRA∗ in path replanning.
Original languageEnglish
Title of host publicationProceedings - 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016
PublisherIEEE
Pages386-389
Number of pages4
ISBN (Electronic)9781509051540
DOIs
Publication statusPublished - 23 Feb 2017
Event8th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016 - Ascott Raffles City, Chengdu, China
Duration: 13 Oct 201615 Oct 2016

Conference

Conference8th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016
CountryChina
CityChengdu
Period13/10/1615/10/16

Keywords

  • A∗
  • Heuristic search
  • Incremental search
  • Path planning
  • Replanning
  • RRA∗

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Safety, Risk, Reliability and Quality

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