TITLE:
A Linear Interpolation-Based Algorithm for Path Planning and Replanning on Girds
AUTHORS:
Changwen Zheng, Jiawei Cai, Huafei Yin
KEYWORDS:
Field D* Algorithm; Path Planning and Replanning; Any-Angle Path; Linear Interpolation; Grid Cell
JOURNAL NAME:
Advances in Linear Algebra & Matrix Theory,
Vol.2 No.2,
June
29,
2012
ABSTRACT: Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article, a new linear interpolation-based planning and replanning algorithm, Update-Reducing Field D*, is proposed. It employs different approaches during initial planning and replanning respectively in order to reduce the number of updates of the rhs-values of vertices. Experiments have shown that Update-Reducing Field D* runs faster than Field D* and returns smoother and lower-cost paths.