A Guide to Heuristic-based Path Planning
Workshop Paper, ICAPS '05 Workshop on Planning under Uncertainty for Autonomous Systems, June, 2005
Abstract
We describe a family of recently developed heuristic-based algorithms used for path planning in the real world. We discuss the fundamental similarities between static algorithms (e.g. A*), replanning algorithms (e.g. D*), anytime algorithms (e.g. ARA*), and anytime replanning algorithms (e.g. AD*). We introduce the motivation behind each class of algorithms, discuss their use on real robotic systems, and highlight their practical benefits and disadvantages.
BibTeX
@workshop{Ferguson-2005-9201,author = {David Ferguson and Maxim Likhachev and Anthony (Tony) Stentz},
title = {A Guide to Heuristic-based Path Planning},
booktitle = {Proceedings of ICAPS '05 Workshop on Planning under Uncertainty for Autonomous Systems},
year = {2005},
month = {June},
}
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