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A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation

A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation

Xugang Ye, Carey E. Priebe
Copyright: © 2010 |Volume: 1 |Issue: 3 |Pages: 14
ISSN: 1947-9328|EISSN: 1947-9336|EISBN13: 9781609609832|DOI: 10.4018/joris.2010070102
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MLA

Ye, Xugang, and Carey E. Priebe. "A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation." IJORIS vol.1, no.3 2010: pp.14-27. http://doi.org/10.4018/joris.2010070102

APA

Ye, X. & Priebe, C. E. (2010). A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation. International Journal of Operations Research and Information Systems (IJORIS), 1(3), 14-27. http://doi.org/10.4018/joris.2010070102

Chicago

Ye, Xugang, and Carey E. Priebe. "A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation," International Journal of Operations Research and Information Systems (IJORIS) 1, no.3: 14-27. http://doi.org/10.4018/joris.2010070102

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Abstract

The authors consider the problem of navigating an agent to safely and swiftly traverse a two dimensional terrain populated with possible hazards. Each potential hazard is marked with a probabilistic estimate of whether it is indeed true. In proximity to any of these potential hazards, the agent is able to disambiguate, at a cost, whether it is indeed true or false. The method presented in this paper is to discretize the terrain using a two dimensional grid with 8-adjacency and approximately solve the problem by dynamically searching for shortest paths using the A* algorithm in the positively weighted grid graph with changing weight function.

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