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Experimental results with the dynamic urgency algorithm

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2 Author(s)
Ghallab, Y. ; Res. Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada ; Hayward, V.

Some experiments as well as some applications relative to an algorithm for collision prediction, the dynamic urgency algorithm (DUA), are presented. The purpose of the experiments is to gain some insight into the behavior of DUA and illustrate its validity. A brief explanation of the algorithm is presented, and the tests which have been made are described. A discussion of the results is presented. Comparing DUA to the full sorting algorithm where τ is calculated, a lower growth of the computational time (up to a ratio of 1:80) is noted, with in turn some erroneous alerts. On the other hand, the sequencing scheme seems to be efficient in 2/3 of the time for the prediction of the most urgent pair. Furthermore, comparing DUA to the full sorting algorithm where the distance function is calculated, it is confirmed that including the rate of change of the environment is more reliable as far as the belief of the most imminent pair is concerned

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992