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Author Teniente, Ernesto H. ♦ Andrade-Cetto, Juan
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Path Planning ♦ New Randomized Path Planner ♦ Search Time ♦ Random Exploration ♦ Cost Penalty ♦ Feasible Path ♦ Outdoor Datasets ♦ Hybrid Node Expansion Technique ♦ Computation Time
Abstract Abstract — We propose HRA*, a new randomized path planner for complex 3D environments. The method is a modified A * algorithm that uses a hybrid node expansion technique that combines a random exploration of the action space meeting vehicle kinematic constraints with a cost to goal metric that considers only kinematically feasible paths to the goal. The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. The performance of the method is compared against A*, RRT and RRT * in a series of challenging 3D outdoor datasets. HRA * is shown to outperform all of them in computation time, and delivering shorter paths than A * and RRT. I.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study