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 language | English |
---|---|
Title of host publication | Proceedings - 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016 |
Publisher | IEEE |
Pages | 386-389 |
Number of pages | 4 |
ISBN (Electronic) | 9781509051540 |
DOIs | |
Publication status | Published - 23 Feb 2017 |
Event | 8th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016 - Ascott Raffles City, Chengdu, China Duration: 13 Oct 2016 → 15 Oct 2016 |
Conference
Conference | 8th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2016 |
---|---|
Country/Territory | China |
City | Chengdu |
Period | 13/10/16 → 15/10/16 |
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