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A Linear Interpolation-Based Algorithm for Path Planning and Replanning on Girds
National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
- 1 National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
- 2 National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
- 3 National Key Laboratory of Integrated Information System Technology Institute of Software, Chinese Academy of Sciences, Beijing, China
Advances in Linear Algebra & Matrix Theory·Volume 02 (2012)·Pages 20–24·Published 29 June 2012·DOI10.4236/alamt.2012.22003
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Abstract
Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article, a new linear interpolation-based planning and replanning algorithm, Update-Reducing Field D*, is proposed. It employs different approaches during initial planning and replanning respectively in order to reduce the number of updates of the rhs-values of vertices. Experiments have shown that Update-Reducing Field D* runs faster than Field D* and returns smoother and lower-cost paths.
KeywordsField D* AlgorithmPath Planning and ReplanningAny-Angle PathLinear InterpolationGrid Cell
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