Towards Incremental A-r-Star

  • Daniel Opoku
  • Abdollah Homaifar
  • Edward W. Tunstel
Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 312)


Graph search based path planning is popular in mobile robot applications and video game programming. Previously, we developed the A-r-Star pathfinder, a suboptimal variant of the A-Star pathfinder with performance that scales linearly with increasing the resolution (size) and hence sparseness of the grid map of a given continuous world. This paper presents the study of the direct acyclic graph (tree structure) formed by the A-r-Star and outlines steps to developing an incremental version of the A-r-Star. The incremental version of A-r-Star is able to replan faster using information from previous searches to speed up subsequent searches.


Graph and tree search strategies Heuristic methods 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Daniel Opoku
    • 1
  • Abdollah Homaifar
    • 1
  • Edward W. Tunstel
    • 2
  1. 1.Electrical and Computer Engineering DepartmentNorth Carolina A & T State UniversityGreensboroUSA
  2. 2.Applied Physics LaboratoryJohns Hopkins UniversityLaurelUSA

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