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A Algorithm For Robot Path Planning

The presentation presents the use of A* algorithm for the problem of robot path planning. For video search on youtube. More stuff available at: rkala.99k.org

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Rahul Kala
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435 views

A Algorithm For Robot Path Planning

The presentation presents the use of A* algorithm for the problem of robot path planning. For video search on youtube. More stuff available at: rkala.99k.org

Uploaded by

Rahul Kala
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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A* Algorithm for Robot Path Planning

Rahul Kala
23 February 2013 rkala.99k.org

Issues
Continuous Space

Resolution
Iterative/ Anytime Algorithms Cost Function: Smoothness

Clearance
Path Length , Time to Travel, Economy
A* Algorithm for Robot Path Planning 2

2-Level Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2010) Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning, Artificial Intelligence Review 33(4), 275-306.
A* Algorithm for Robot Path Planning 3

2-Level Resolution Planning


Coarser Level: A* Algorithm

Finer Level: Fuzzy Inference System

A* Algorithm for Robot Path Planning

2-Level Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2010) Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning, Artificial Intelligence Review 33(4), 275-306.
A* Algorithm for Robot Path Planning 5

Multi-Resolution Planning

A* Algorithm for Robot Path Planning

Multi-Resolution Planning
Make A* algorithm iterative

At any iteration: Find shortest and most probably collision free paths Decompose cells along the found path Transfer points from the previous graph search

R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing, 74(14-15), 23142335. A* Algorithm for Robot Path Planning 7

Multi-Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing, 74(14-15), 23142335. A* Algorithm for Robot Path Planning 8

THANK YOU

A* Algorithm for Robot Path Planning

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