Ds* Heuristic Approach using ‘Safety Distance’ for Agent Path Planning
Journal Title: IOSR Journals (IOSR Journal of Computer Engineering) - Year 2014, Vol 16, Issue 2
Abstract
Abstract : The efficiency in path planning algorithms is a crucial issue in mobile agents. For an artificial agent, observation from environment, navigational behavior and learning methods over occupancy grid maps are tools for effective path planning. The path generated by the conventional D* algorithm may lead to collision with the obstacles in real-time scenario and this issue is addressed by Ds* which uses `safety distance’ phenomena, based on weighted cost function. The factors of distance and safety are considered simultaneously in the cost function, thereby demonstrated efficiency in path planning. An analysis on goal-directed navigation tasks in mazes using Ds* heuristic approach is carried out and the efficiency is evaluated based on two parameters - Path length and Execution time.
Authors and Affiliations
Kiran K Ravulakollu , Shailashree K Sheshadri
Keywords
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- EP ID EP94335
- DOI 10.9790/0661-16212109115
- Views 93
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