By Topic

Estimating search depths in hierarchical path planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Autere, A. ; Dept. of Comput. Sci., Helsinki Univ. of Technol., Espoo, Finland

If collision free paths can be found on search graphs with few nodes and coarse resolutions, then traditional A* is fast. However, if such paths exist only on fine resolution graphs or at deeper levels of search hierarchies then A* is usually very slow. The paper studies two questions. First, when it is beneficial to use the plain A* instead of the method resembling an earlier hierarchical planner (Autere and Lehtinen, 1997). Second, which of the following two ways is better? Explore all the, nodes at a resolution i before exploring any nodes at finer resolutions or at deeper levels of the search hierarchy: i+1, i+2, ... . The other way is to explore nodes simultaneously at several finer resolutions (>i). Nine point-to-point path planning tasks in seven test cells are provided for experimental study. The dimensions of the tasks are from three to six. The planning times varied from about one minute to less than an hour

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: