International Journal of Operations Research and Information Systems · 2010 · 11 citations · 22 references
ComputingAutonomous SystemsComputer ScienceAlgorithmsOptimizationPath PlanningHeuristic SearchNavigation PlanningRobot NavigationRoute PlanningShortest Path AlgorithmsTerrain TraversalDynamic Shortest PathsGraph NavigationNavigation In Cluttered EnvironmentsSearch NavigationShortest Path HeuristicsShortest PathsTerrain-aware Path PlanningTrajectory Planning
The authors consider the problem of navigating an agent to safely and swiftly traverse a two dimensional terrain populated with possible hazards. Each potential hazard is marked with a probabilistic estimate of whether it is indeed true. In proximity to any of these potential hazards, the agent is able to disambiguate, at a cost, whether it is indeed true or false. The method presented in this paper is to discretize the terrain using a two dimensional grid with 8-adjacency and approximately solve the problem by dynamically searching for shortest paths using the A* algorithm in the positively weighted grid graph with changing weight function.
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