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Towards Incremental A-r-Star

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Advance Trends in Soft Computing

Part of the book series: Studies in Fuzziness and Soft Computing ((STUDFUZZ,volume 312))

Abstract

Graph search based path planning is popular in mobile robot applications and video game programming. Previously, we developed the A-r-Star pathfinder, a suboptimal variant of the A-Star pathfinder with performance that scales linearly with increasing the resolution (size) and hence sparseness of the grid map of a given continuous world. This paper presents the study of the direct acyclic graph (tree structure) formed by the A-r-Star and outlines steps to developing an incremental version of the A-r-Star. The incremental version of A-r-Star is able to replan faster using information from previous searches to speed up subsequent searches.

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Author information

Authors and Affiliations

  1. Electrical and Computer Engineering Department, North Carolina A & T State University, Greensboro, USA

    Daniel Opoku & Abdollah Homaifar

  2. Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, 20723, USA

    Edward W. Tunstel

Authors
  1. Daniel Opoku
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  2. Abdollah Homaifar
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  3. Edward W. Tunstel
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Corresponding author

Correspondence to Daniel Opoku .

Editor information

Editors and Affiliations

  1. The University of Texas, San Antonio, Texas, USA

    Mo Jamshidi

  2. Department of Computer Science, University of Texas at El Paso, El Paso, Texas, USA

    Vladik Kreinovich

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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© 2014 Springer International Publishing Switzerland

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Opoku, D., Homaifar, A., Tunstel, E.W. (2014). Towards Incremental A-r-Star. In: Jamshidi, M., Kreinovich, V., Kacprzyk, J. (eds) Advance Trends in Soft Computing. Studies in Fuzziness and Soft Computing, vol 312. Springer, Cham. https://doi.org/10.1007/978-3-319-03674-8_19

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  • DOI: https://doi.org/10.1007/978-3-319-03674-8_19

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03673-1

  • Online ISBN: 978-3-319-03674-8

  • eBook Packages: EngineeringEngineering (R0)

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