Abstract
Finding optimal path through a graph efficiently is central to many problems, including route planning for a mobile robot. BDD-based incremental heuristic search method uses heuristics to focus their search and reuses BDD-based information from previous searches to find solutions to series of similar search problems much faster than solving each search problem from scratch. In this paper, we apply BDD-based incremental heuristic search to robot navigation in unknown terrain, including goal-directed navigation in unknown terrain and mapping of unknown terrain. The resulting BDD-based dynamic A* (BDDD*) algorithm is capable of planning paths in unknown, partially known and changing environments in an efficient, optimal, and complete manner. We present properties about BDDD* and demonstrate experimentally the advantages of combining BDD-based incremental and heuristic search for the applications studied. We believe that our experimental results will make BDD-based D* like replanning algorithms more popular and enable robotics researchers to adapt them to additional applications.
Supported by the National Natural Science Foundation of China under Grant Nos. 60721061, 60833001 and 60725207.
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Xu, Y., Yue, W., Su, K. (2009). The BDD-Based Dynamic A* Algorithm for Real-Time Replanning. In: Deng, X., Hopcroft, J.E., Xue, J. (eds) Frontiers in Algorithmics. FAW 2009. Lecture Notes in Computer Science, vol 5598. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02270-8_28
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DOI: https://doi.org/10.1007/978-3-642-02270-8_28
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