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http://hdl.handle.net/10397/64536
| Title: | Rapidly replanning A* | Authors: | Ganganath, N Cheng, CT Tse, CK |
Issue Date: | 2016 | Source: | 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Chengdu, China, 13-15 Oct 2016, p. 386-389 | 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. | Keywords: | Heuristic search A* RRA* Path planning Replanning Incremental search |
Publisher: | Institute of Electrical and Electronics Engineers | DOI: | 10.1109/CyberC.2016.81 | Rights: | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The following publication N. Ganganath, C. T. Cheng and C. K. Tse, "Rapidly Replanning A*," 2016 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Chengdu, China, 2016, pp. 386-389 is available at http://dx.doi.org/10.1109/CyberC.2016.81 |
| Appears in Collections: | Conference Paper |
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|---|---|---|---|---|
| Ganganath_Rapiding_Replanning_A.pdf | Pre-published version | 778.55 kB | Adobe PDF | View/Open |
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